An electronic device generates a summary map of a scene based on data representative of objects having a high utility for identifying the scene when estimating a current pose of the electronic device and localizes the estimated current pose with respect to the summary map. The electronic device identifies scenes based on groups of objects appearing together in consistent configurations over time, and identifies utility weights for objects appearing in scenes, wherein the utility weights indicate a predicted likelihood that the corresponding object will be persistently identifiable by the electronic device in the environment over time and are based at least in part on verification by one or more mobile devices. The electronic device generates a summary map of each scene based on data representative of objects having utility weights above a threshold.