Seeing, as there have been a ton of questions recently about map completion, I believe based on my 100% run that what counts towards map completion are any pickups (health orbs, energy orbs, light orbs, shards, ore, etc.) as well as revealing the map. There is a side quest you can do that will reveal every item on the map for you so you can easily get 100%. Otherwise, items show up on the map if they have been on screen at any point in the game, even if just barely and in an area you couldn't reach at the time.