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I think this strongly depends on what you are going to do. If you plan to use more knowledge about you environment and you also want to to reasoning about it, you could think of using a knowledge base like KnowRob ( http://www.ros.org/wiki/knowrob ) to store e.g. semantic environment information (in a so called semantic map) and also any other kind of information you want to use. A big advantage of this approach is that you can do reasoning about objects and the environment with ot like e.g. finding the most likely storage location of an object or similar (check the Knowrob Wiki: http://ias.cs.tum.edu/kb/wiki/index.php/Main_Page )

But if you just want to have some locations of objects in your environment, this might be a bit of an overkill, so in this case you might just stick with a list of objects and coordinates...