In general, tele-monitoring system is composed of a number of cameras to obtain an adequate and a continuous visual information of the environment. However: every image is not always helpful for the operator to understand the state of environment. And, it may not be able to transfer all of them to the operator because of the limitation of communication capabilig, Therefore, when multiple cameras were used for the tele-monitoring systems, it needs that the usefulness of image should be calculated, and then, the most useful image should be transferred for the operator to grasp the situation. In this pap% we have considered the visibility constraint as a criterion for the computation of the usefulness of image, usability. And, for the fast computation of the visibility region we have proposed the spherical projection method. The results of simulation and experiment show that the determination of the optimal image using the visibility constraint is helpful for the automation of the telemonitoring systems under the limitation of communication capacity.