The localized spin triplet ground state of a nitrogen vacancy (NV) center in diamond can be used in atomic-scale detection of local magnetic fields. Here we present a technique using ensembles of these defects in diamond to image fields around magnetic structures. We extract the local magnetic field vector by probing resonant transitions of the four fixed tetrahedral NV orientations. In combination with confocal microscopy techniques, we construct a two-dimensional image of the local magnetic field vectors. Measurements are done in external fields less than 50 G and under ambient conditions.