With the Internet of Things (IoT), applications should interact with a huge number of devices and retrieve context data produced by those objects, which have to be discovered and selected a priori. Due to the number, heterogeneity, and dynamicity of resources, discovery services are required to consider many selection criteria, e.g., device capabilities, location, context data type, contextual situations, and quality. In this paper, we describe QoDisco, a semantic-based discovery service that addresses this requirement in IoT. QoDisco is composed of a set of repositories storing resource descriptions according to an ontology-based information model and it provides multi-attribute and range querying capabilities. We have evaluated different approaches to reduce the inherent cost of semantic search, namely parallel interactions with multiple repositories and publish-subscribe interactions. This paper also reports the results of some performance experiments on QoDisco with respect to these approaches to handle resource discovery requests in IoT.