graph TD
A[Input Point Cloud] --> B[Voxelization]
B --> C[Sparse Convolution]
C --> D[Feature Extraction]
D --> E[Output Features]
F[Geometry Types] --> G[Points]
F --> H[Voxels]
F --> I[Grids]
G --> J[Point Convolutions]
H --> K[Sparse Convolutions]
I --> L[Grid Convolutions]