In this paper, we propose a method to initialize a real living space for the purpose of robotics services support in human daily activities. To introduce service robot into unknown or first-see living environment, a robotics system needs environmental information such as furniture 3D appearance and articulation. This functional information can be realized using environment map that can filtering candidates for furniture automatically. The environment map which contains furniture 3D information presented in this paper is developed by using depth camera and online database like furniture catalogue. The realization of this proposed method is done through a plug-in created in layout software, Microsoft Office Visio. This initialization for robotics service generation in human daily-life may provide a better robot's task performance. The result shows the 3D geometric model or environment map of standard Japanese-style living space.