I've always found atmospheres to be better in Indoor Venues. I think, because of the nature of these places, the Atmosphere "stays inside".
Also, could Queen + Paul Rodgers fill these Stadiums ? I'm not entirely sure. 3 nights at a large stadium would be around 180,000 people. Yes, as shown by the Demand already, a lot of tickets would do, but I'm sceptical as to whether the shows would be a sell out.