setbeamertemplate{mini frame}[tick]
setbeamertemplate{mini frame in current subsection}{tick}

defbeamertemplate{mini frame}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{fill,stroke}
  end{pgfpicture}%
}
[action]
{
  newlength{myminiframesize}
  setlength{myminiframesize}{0.14cm}
  newlength{myminiframeoffset}
  setlength{myminiframeoffset}{0.03cm}
  setbeamersize{mini frame size=#1myminiframesize,mini frame offset=#1myminiframeoffset}
}

defbeamertemplate{mini frame in current section}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{stroke}
  end{pgfpicture}%
}

defbeamertemplate{mini frame in current subsection}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{stroke}
  end{pgfpicture}%
}

setbeamertemplate{mini frame}[scaled circle]{0.7}
setbeamertemplate{mini frame in current section}[scaled circle]{0.7}
setbeamertemplate{mini frame in current subsection}[scaled circle]{0.7}

documentclass[compress]{beamer}
usepackage{calc}
useoutertheme{miniframes}

defbeamertemplate{mini frame}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{fill,stroke}
  end{pgfpicture}%
}
[action]
{
  newlength{myminiframesize}
  setlength{myminiframesize}{0.14cm}
  newlength{myminiframeoffset}
  setlength{myminiframeoffset}{0.03cm}
  setbeamersize{mini frame size=#1myminiframesize,mini frame offset=#1myminiframeoffset}
}

defbeamertemplate{mini frame in current section}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{stroke}
  end{pgfpicture}%
}

defbeamertemplate{mini frame in current subsection}{scaled circle}[1]
{%
  begin{pgfpicture}{0pt}{0pt}{#1 * 0.1cm}{#1 * 0.1cm}
    pgfsetlinewidth{#1 * 0.4pt}
    pgfpathcircle{pgfpoint{#1 * 0.05cm}{#1 * 0.05cm}}{#1 * 0.05cm}
    pgfusepath{stroke}
  end{pgfpicture}%
}

setbeamertemplate{mini frame}[scaled circle]{0.7}
setbeamertemplate{mini frame in current section}[scaled circle]{0.7}
setbeamertemplate{mini frame in current subsection}[scaled circle]{0.7}

begin{document}

section{Section 1}
subsection{Subsection 1}
frame{Frame 1}
frame{Frame 2}
frame{Frame 3}
frame{Frame 4}
frame{Frame 5}
frame{Frame 6}
frame{Frame 7}
frame{Frame 8}
frame{Frame 9}
frame{Frame 10}
subsection{Subsection 2}
frame{Frame 1}
frame{Frame 2}
frame{Frame 3}
frame{Frame 4}
frame{Frame 5}
frame{Frame 6}
frame{Frame 7}
frame{Frame 8}
frame{Frame 9}
frame{Frame 10}

end{document}