Our profile says: abeam midfield if on a visual downwind (or as needed to assist in speed control), or any time during the approach, so long as we're below Vlo and we're fully configured with checklists done by 1000AGL in IMC or 500AGL in VMC.
Basically it's whenever the pilot flying wants to put them down. Most guys throw them out when we intercept the glide slope, as the power settings for level flight with gear up and flaps 5 are about the same as a 1000 fpm decent with gear down and flaps 5. Makes for a really easy transition onto the slope.
In the heavier and faster planes, especially jets, the gear is one of the best things you have to help you slow down while still descending. With the gear up, at flight idle, we can get about 1500-1800 fpm down at 200kts. With the gear down, we can get 3500+ fpm down at 200kts, and we have a much greater ability to slow down quickly. So, if we're high and fast, we'll "dangle the Dunlops" a little early to help us get down.
Chances are you were seeing the planes right around the final approach fix...that's usually where speed restrictions are canceled and most folks start to configure. Beyond that, there's nothing automatic about gear extention. The pilot flying asks for the gear down at whatever point he thinks it's appropriate, and the other pilot physically puts it down.
There's no requirement to see the runway to put the gear down, either.
In holding, the gear is always up, unless you have a hydraulic problem or some other extenuating circumstance.
For a true circling approach, the gear will be down simply because we have to be configured by 1000 AGL, and we'll normally be circling below that. The only thing that's different about a circling approach is that we hold off on final flaps (flaps 35, if we're going to use them at all) until we're on or at least close to finishing the last turn in the circle.
So to summarize my ramblings...we usually drop the gear at glide slope intercept or a little bit earlier if we need help getting down. Other companies may be different, though.