There are stitching programs for panoramas such as Microsoft Image Composite Editor.
However, if you photograph the street yourself, you also have to consider the various technical issues. Lighting will have to be consistent as will camera placement. You’ll also have to contend with perspective distortion once you move above and below “eye level” view. Additionally, if you do shoot the images yourself, you have to consider getting permission to shoot, both from the owners/proprietors and possibly even an official. That is doubly true if you’re photographing a prominent locale that might be considered sensitive.
I would probably steer you away from using Google or Bing street view images. For one thing, they’re watermarked. Removal is totally possible, but would be tedious if you have lots of images. More over, the inclusion of said watermark suggests that those images are copyrighted material. Unless they’re going to be used for something like IBL on a personal project, I would avoid using that stuff for purely legal reasons.