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id = casper.evaluate(function() 
 return Array.prototype.map.call(document.querySelectorAll("image"), 
 function(e) return e.getElementById();););

this.echo(id);

--Update--

If you want get elements containing a specific class just use a helper function to scrape the elements you are looking for.

Example:

var casper = require('casper').create();
var ids = ;

function getIdsByClassValue() 
 // use your selector here eg. '.image'.
 var elems = document.querySelectorAll('input[type="submit"]');
 return Array.prototype.map.call(elems, function (e) 
 // change to the attribute you are looking for.
 return e.getAttribute('value')
 );


casper.start('https://www.google.com/');

casper.then(function () 
 ids = this.evaluate(getIdsByClassValue);
);

casper.run(function() 
 this.echo('n - ' + ids.join('n - ')).exit();
);

You can use getElementsAttribute to do that.

.getElementsAttribute

Signature: getElementsAttribute(String selector, String attribute)

Retrieves the values of an attribute on each element matching the provided selector:

Here is an example.

var ids = ;

var casper = require('casper').create();

casper.start('https://google.com/', function() 
 this.wait(1000, function() 
 ids = this.getElementsAttribute('*', 'id')
 .filter(function(id) 
 return id.length > 0;
 )
 );
);

casper.then( function() 
 this.echo('n - ' + ids.join('n - ')).exit();
)

casper.run();

return e.getElementById(); does obviously not make any sense, because getElementById is a function that expect one argument and is only available on the document.

It seems you want to return the id property:

var ids = casper.evaluate(function() 
 return Array.prototype.map.call(document.querySelectorAll("image"), function(e) 
 return e.id;
 );
);

this.echo(ids);