Orthogonal Cross Cylinder (OCC) mapping and segmentation based modeling methods have been implemented for constructing the image-based navigation system in this paper. The OCC mapping method eliminates the singularity effect caused in the environment maps and shows an almost even amount of area for the environment occupied by a single texel. A full-view image from a fixed point-of-view can be obtained with OCC mapping although it becomes difficult to express another image when the point-of-view has been changed. The OCC map is segmented according to the objects that form the environment and the depth value is set by the characteristics of the classified objects for the segmentation-based modeling. This method can easily be implemented on an environment map and makes the environment modeling easier through extracting the depth value by the image segmentation.