Here's the code for the task you requested. Please copy and paste the following code into your Visual Basic.NET project:
```vb.net
Imports System.IO
Public Class Form1
    Private Sub btnSubmit_Click(sender As Object, e As EventArgs) Handles btnSubmit.Click
        RenameImages(txtDirectory.Text)
    End Sub
    Private Sub RenameImages(directoryPath As String)
        If Not Directory.Exists(directoryPath) Then
            MessageBox.Show("Invalid directory path.")
            Return
        End If
        Dim allowedExtensions As String() = {".jpg", ".jpeg", ".png", ".gif", ".bmp"}
        Dim files = Directory.GetFiles(directoryPath).Where(Function(f) allowedExtensions.Contains(Path.GetExtension(f).ToLower())).ToList()
        Dim counter As Integer = 1
        For Each file As String In files
            Dim extension As String = Path.GetExtension(file)
            Dim newFileName As String = Path.Combine(directoryPath, "image-" & counter.ToString("D4") & extension)
            If Not file.Equals(newFileName) Then
                File.Move(file, newFileName)
            End If
            counter += 1
        Next
        MessageBox.Show("Image files have been renamed successfully.")
    End Sub
End Class
```

This code creates a form with a textbox (named `txtDirectory`) for the user to enter the directory path and a submit button (named `btnSubmit`) to execute the renaming process. The `RenameImages` function takes care of renaming the image files in the specified directory.
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