Voxelization for 3D CNN

[OneManArmy93]

Hello, im trying to impelemnt a singlestage detector (perception and prediction) which is inspired from IntenNet and Fast and Furious.
These two approaches uses voxelization to create a 3D voxel grid from point cloud data and feed it to a 3D CNN.
My question is, can i get inspired by the voxelization process in voxelnet to do the same?
Thank you