Navigating spaces without GPS signal access requires drones to rely on an internal 3D representation of the space to navigate in including object of interest and relevance. Many environments contain dynamic objects: doors may close, objects may topple, and additional dimensions, such as heat or limited visibility that become essential to represent. Such comprehensive modeling allows drones to avoiding hazards when executing a traversal from point A to point B within the space or searching for e.g. injured humans needing help or rescue. Sharing spatial information between collaborating drones and human operators, as well as dynamically and jointly updating the 3D model in real-time, introduces specific requirements for these representations and the model must support updates from both drones and human operators. In this paper, we systematically review a range of 3D model representations, classifying them based on applicability to Search and Rescue (SAR) scenarios. The purpose of this literature review is to aid in selecting a suitable 3D representation for SAR operations.