VOLA: A Compact Volumetric Format for 3D Mapping and Embedded Systems Topics: 3D Modeling and Simulation; Big Data and GIS; Spatial Modeling and Reasoning; Storage, Indexing and Searching In Proceedings of the 4th International Conference on Geographical Information Systems Theory, Applications and Management GISTAM - Volume 1, 129-137, 2018 , Funchal, Madeira, Portugal