To expand a bit on Vsevolod Golovanov and Paulo Ebermann's answer above, here is a concrete example and further elaboration.
The Javadocs documentation states:
To include unprocessed files, put them in a directory called doc-files which can be a subdirectory of any package directory that contains source files.
If you place the image files in that folder they will be available to the Javadocs HTML files via the relative path from the generated HTML.
So, if your project is named MyProject and the class you are adding Javadoc commentary to is org.foo.app.MyApp, the source folder for which is MyProject/src/org/foo/app/MyApp.java and you want to include MyImage.jpg in it's Javadoc, then:
Create the folder MyProject/src/org/foo/app/doc-files, and place the image file in it.
At that point your Javadocs text can reference it thus:
<img src="doc-files/MyImage.jpg" width="500" alt="description of MyImage">
And the Javadocs-generated HTML will reflect be coded accordingly.
Note the "width" attribute, allowing scaling of the image. The height is scaled proportionally.
When you run Javadocs, the doc-files folders will all be copied to the Javadocs output folders and the resources within them will be available for use by the HTML.