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This paper presents a novel method for summarizing and compression of large-scale 3D models into compact spherical representations. The information is combined into a set of optimized spheres in order to facilitate its use by systems with limited resources (smartphones, robots, UAVs, ...). This vision-based summarizing process is applied in a fully automatic way using jointly photometric, geometric and semantic information of the studied environment. The main contribution of this research is todoi:10.1109/itsc.2018.8569447 dblp:conf/itsc/SalahKDV18 fatcat:o2yu44f7rrajjp5uswwt7nowz4