What you do, in a nutshell, is start with an image. Then you define parts of that image to be links so when you click on that part of it you go to wherever the link points. In your case you say it could be a picture of the kitchen and each cupboard door could take you to a different location, the oven somewhere else, and so on.
The clicks taking you to a specific page is easy, taking you to a specific portion of that page (at least in VSD) just a little less so. If you mark the spot on the page you want to jump to with a small image, or put some text there, it''ll work fine but you will have to do a little basic HTML coding. Someone here can talk you through the specific code you'd need when the time comes.
I haven't used the CC Image Mapper program, though I own a copy of it and could spend some time learning it if needed. I expect that it will make mapping the image a little easier than doing it manually like I've done in the past. You will almost certainly have a bit of a learning curve to climb in any case, and will come out of the experience knowing a little more about web coding than you did when you started.
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