A technique for generating environmental representations of indoor parking lots is presented. The environmental representation of a parking lot is of use for the surveillance and management of the parking lot. The representation includes a map and an image, called the environmental map and the environmental image, respectively. Given the ceiling and floor plans of an indoor parking lot, we first determine the locations for installing omni-directional (OD) cameras such that the integrated fields of view (FOV) of the cameras cover the entire parking lot. After installing cameras, those monitoring views collected from the various cameras are then dewarped and mosaiced together to form an image of the whole environment. To test our method, we constructed a monitoring system for a model of parking lot that is scaled from a real one.