As far as I'm aware, the Estate has a brief outline of what they want to do for the next five years of their deal with Sony. (Nothing detailed, just ideas.) A 25th anniversary re-release for Dangerous is under consideration for 2016.
I'm focused mainly on the Dangerous outtakes. There are over 70 recordings from the initial Dangerous recording sessions (1989-1991) in the vault, with around 45-55 of them (give or take) with enough vocals to be released. That number includes Monkey Business, Work That Body, If You Don't Love Me, Serious Effect, What About Us, the original demo to Dangerous, She Got It and Do You Know Where Your Children Are. Quite frankly, I don't give a damn about a concert release. I would adore to see it, but I wouldn't lose any sleep if the Estate decided against it.