To complete the cycle, doing it with ArcGIS, I found an article by Adriano, who shows us the sequence step by step.
This is the view in Google maps, in map condition.
To see the orthophoto, activate the "satellite" option
Then this image is copied via “printscreen”, and the borders are removed, so that the zoom and view configuration tools are not visible. (in the other posts it is shown how to do it if what you have are utm coordinates or control points)
Then it is inserted in Arcmap, through the "ad data" option, it is presumed that we have a feature class, with the street axes of the same area. Since when entering the image we don't know where it is, you right-click on it and choose “zoom to layer”, so it is available on your screen.
We activate the “georeferencing” option through view/toolbars/georeferencing. To bring it close to the map or the control points you can add one to it, with a point of origin and destination visible on your screen, this will make it possible to see it when you activate the “link table” option, leave the “source” the same and add it to the destination point known as “map” one of your known points, so the image will be close to the area of interest.
Once both the image and the street layer are visible, the control points are defined; for this you only click on the point (interpreted) of the image and another click on the known point of the map.
These can be in a txt file, and entered using the "load" button, but for this you must have them in a format separated by spaces in the form "point number" "origin longitude" "origin latitude" "destination longitude" destination latitude".
In the "view link table" button you can see each of the control points, according to the data you have, you can add enough so that the image is deformed as close as possible to the street shape.
After the image acquires the transformations, “georeferencing / update georeferencing” is applied.
The ideal is to export it to a format that retains the georeference, for that right mouse button is done, on the image, then data / export data and the format is chosen, which can be img, tiff or as grid ... even in mosaic.
Here you can see the complete post (in Portuguese)