It looks to me like you are asking how to use the database (build table, insert your rows, query for output). If so, I would suggest you read this section of the Android API Guides:
http://developer.android.com/guide/topics/data/data-storage.html. It has a section on SQLite which will have more detail than what we can describe here. Having some understanding of SQL will help as well.
But I am not sure your best option is to put the IDs in the database. The IDs are constant only in a version of your application. Every time you update your app you would need to re-create the data table. Also, do you plan on shipping all densities of all the location images to your users? That sounds like a lot of content to download.
What I would suggest is storing your images in the assets folder, using
AssetManager to locate them, and using
Bitmap methods to scale appropriately for the device. Then the database would hold the URI paths to the files, which would be constant between app updates (unless you change them) rather than IDs which might not be.