In this paper, we propose an automatic approach, complete with a prototype system, for supporting instant access to maps for local navigation by people with visual impairment. The approach first detects and segments texts from a map image and recreates the remaining graphical parts in a tactile form which can be reproduced immediately through a tactile printer. Then, it generates an SVG (Scalable Vector Graphics) file, which integrates both text and graphical information. The tactile hardcopy and the SVG file together are used to provide a user with interactive access to the map image through a touchpad, resulting in a tactile-audio representation of the original input image. This supports real-time access to the map without tedious conversion by a sighted professional. Evaluations with six users who are blind show that the created tactile-audio maps from our prototype system convey the most important map information and are deemed as potentially useful for local navigation.