Partial scene from wall relief in tomb of Queen Hatshepsut in Egypt showing incense tree that was
brought from the Land of Punt. (Historians disagree on precise location of where this is)
Assyrian relief shows King Ashurbanipal pouring a libation over dead lions. A tall incense censer is on the left. (lower register)
British Museum: http://www.britishmuseum.org/explore/highlights/highlight_image.aspx?image=ps242435.jpg&retpage=19023
Incense offering at a Greek sacrifice (lower register detail of a relief called "The Apotheosis of Homer") c. 200 BCE
British Museum - could not locate in the collection, but I did find it on Google images (!)
Also the book Frankincense & Myrrh says this piece is at the British Museum
"Priestess of Bacchus offering frankincense at the altar of Jupiter"
Roman ivory diptych, c. 390-401 CE (Victoria and Albert Museum, London)
"Veiled Bride Adding Incense to Burner"
Detail from a Greek relief (the Ludovisi triptych) from South Italy, c. 450 CE, National Museum, Rome.