Danielj, the UV mapping is applied internally by suited graphic programs, both complete 3D packages or user-defined programming languages scripts as well. If I'm not wrong, the image of Helene is the output of a jam session between me and Volcanopele. Volcanopele sent to me in private form the few up-to-date Cassini images concerning Telesto/Helene's close encounters, together with a table of their orientations in space at epoch. I quicky modelled them with the fully functional "try before buy" version of 3D Coat, an "organic" (voxel) 3D modeler. Such (not free) programs:
ZBrush
http://www.pixologic.com/zbrush/features/01_UI/3D Coat
http://www.3d-coat.com/Mudbox
http://usa.autodesk.com/adsk/servlet/pc/index?id=13565063&siteID=123112Silo
http://www.nevercenter.com/Modo
http://www.luxology.com/products/and others,
allows to sculpt and paint the mesh through the use of the stencyl made by images (the Cassini's images in such case) for then got the final texture. Such method could be used also for Itokawa. The only problem is that the best refined mesh of Itokawa is not rendered in a 3D format easy recognizable by the forementioned programs (the CMOD format) because is directly obtained in CMOD format from a dataset of raw scientific data imagery (numbers) processed by a C++ script shipped within the Celestia's SVN trunk, and without to pass through an intermediate files. The only way to do that for Itokawa is using its 3DS version, which is less detailed, though. And like John says, its not an urgent task (at least in my case).
Moreover, such kind of modelling (the 3d "organic") is actually performant, just whether one has lots of images taken at angles altogether, otherwise shadows, reflections and more are disturbing for the real detail of the features and its position on the mesh. So consider Helene and Telesto as "artistic conception near-to-truth".
P.S.
Unfortunately, Sculptris, a FREE 3D sculpt and 3D paint program doesn't use stencyls for the colors, even though it allows normalmap painting and get textures's output.
Never at rest.
Massimo