Wireless endoscopic Micro-Ball system makes it possible to generate the map of gastrointestinal (GI) tract wall. This paper proposes a new method for the generation of small intestine map based on the attitude sensing system embedded in the endoscopic Micro-Ball. In this method, the captured images can be inversely projected on the interior wall of small intestine and then 2D representation of the inversely projected images can be created. The method reduces the complexity of 2D representation of small intestine map, because it removes the perspective distortion of the captured images. Moreover, the attitude information related to the images determines the location of the generated images in the small intestine map. The location information can reduce the amount of calculation when used in image registration of the endoscopic Micro-Ball images. Experimental results show the method is feasible and high efficient.