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Efficient discovery of nearby devices and services is one of the preconditions to obtain a usable pervasive environment. Typical user interfaces in these environments hide the heterogeneity of the environment for end-users which often makes it hard to perceive the provided functionality. We present Pervasive Maps, an approach and tool that allows to create an intuitive user interface for exploring and controlling the environment. Pervasive Maps offers user-oriented views on the user's environment based on pictures of this environment. We show how users can model, explore and finally interact with complex pervasive environments using Pervasive Maps.