Steps to get InstallESD.dmg are available on this blog - http://coolestguidesontheplanet.com/making-a-boot-usb-disk-of-osx-10-9-mavericks/
These blog links would also be helpful to accomplish what you are trying - http://www.insanelymac.com/forum/topic/290949-how-to-install-os-x-10x-snow-leopard-lion-mountain-lion-mavericks-and-yose…
http://techiezone.rottigni.net/2013/11/installing-mavericks-on-esxi-5-1/
I would try this in my lab today and let you know the results.