If you don't want to use an image map, then you could theoretically do one giant image that you then slice up manually (and put it into a table in the HTML) and approximating the overall shapes. I used the product "Coffee Cup Image Slicer" to do this trick.

An example of a place where I did this is on the RioCar Button Guide, it's most obvious on the image of the faceplate, where I had to make links for the various sections of each button.