The thermal infrared imager (TIR) onboard the Hayabusa2 spacecraft performed thermographic observations of the asteroid 162173 Ryugu (1999 JU3) from June 2018 to November 2019. Our previous reports showed the surface temperature and thermal inertia maps of Ryugu. At that time, the mapping procedure from observed TIR images to the shape model of Ryugu has been developed as a geometric correction method. The method used the shape model derived from the observed images by the optical. navigation camera (ONC), a numerical geometry toolkit, SPICE kernels (NASA/NAIF) based on the spacecraft attitude data derived from ONC images, and the measured altitudes by the light detection and ranging (LIDAR). The pointing directions of TIR were calculated using an interpolation of data from SPICE kernels during the periods when the ONC or LIDAR observation was performed. Still, the mapping accuracy of the observed TIR images was degraded when the ONC and LIDAR observations were not performed with TIR. In this paper, to solve the problem of the mapping procedure, we improved the correction method by matching the TIR images, which carried out a one-to-one correspondence between the observed points in the TIR images and the surface nodes addressed on the shape model of Ryugu. This geometric correction adjusted the pointing direction of TIR by rotating the TIR frame relative to the base of the Hayabusa2 frame using a least squares fit. The resulting temperature maps spatially spreading more than 10° were improved after the correction, and high-resolved 0.5° by 0.5° maps were constructed. The geometric correction was effective for characteristic regions where the terrain was comparable to the pixel scale of TIR, such as the Ejima Saxum. The estimated thermal inertia of the bottom of Ejima Saxum was approximately 300 Jm-2s-0.5K-1. Thus this estimation was succeeded in case that the surface topographic features were the pixel scale of TIR. However, the thermal inertia estimation of smooth terrains, such as the Urashima crater, was difficult because of surface roughness effects, where roughness was probably less than the pixel scale of TIR.