I'm glad you addressed this as I feel dungeons need a complete overhaul.
First off, yes I do think both should be included but only under certain circumstances. The standard dungeon has four dungeon items: the dungeon map, the compass, the dungeon weapon and the boss key. Each item is usually placed in a specific position so that the player is bound to find them in order of importance. I find this too predicable as well as easy and it's why I believe something needs to be changed.
A few titles have decided to deviate away from this, to be more specific, the two most recent titles. Skyward Sword decided to combine the two together and A Link Between Worlds just utilised the compass while you already a map. Now this actually seemed more logical, but I think it's better to have both and I'll explain why:
Dungeons should be like mazes and they should be the pinnacle of challenge. I feel Nintendo forget this sometimes. Going into a dungeon completely oblivious to direction and what's ahead is what should happen; essentially, we should feel lost. The dungeon map serves as giving us that help and it's a relief when get said item; however, the map needs to feel like a luxury and usually it's just given to us as we naturally progress through the dungeon. First off, the dungeon map should be hidden somewhat and it should require challenge to obtain - I think in order for this to happen we need to have a dungeon which isn't entirely linear. This would allow for the map to be hidden away from the natural progression of the dungeon and we should have to go out of our way to find it. This way you get a better sense of reward.
The same goes for the compass although usually we either find the compass within close proximity to the map or near the end. Both aren't ideal. Finding both key items near the start takes away from the reward and the separation between them. Finding the compass near the end is redundant as by then you've already discovered most rooms, and probably, most treasures. The ideal is about halfway through the dungeon structure-- and much like the map-- it should be a challenge to get and it shouldn't be in plain sight. However, there is another factor: why should we want it? I don't know about everyone else but I find the compass to be pretty useless. Most of the time I don't care for the odd rupee as I'm usually already content. So I'm suggesting that dungeon treasures should be more varied and give better rewards. In fact I like the way A Link Between Worlds put good rewards on some chests: things like sword and magic upgrades etc. If dungeons were to expand upon this then I'd be happy.
So yeah, I think that the compass and map should be used but only under certain circumstances. I find the typical usage of them to be quite redundant and it's definitely something Nintendo nerd to think about.