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, the "satellite" option is activated
Then this image is copied via "printscreen", and the edges are removed, so that the view and view configuration tools are not visible. (in the other post it shows how to do it if what you have are utm coordinates or control points)
Then it is inserted in Arcmap, through the option "ad data", it is presumed that we have a feature class, with the street axes of the same area. Since when entering the image we do not know where it is, you do right click on it and choose "zoom to layer", so it is available on your screen.
Activate the option "georeferencing" using view / toolbars / georeferencing. To bring it close to the map or control points you can add one, with a point of origin and destination visible on your screen, this will make you activate the option "link table" you can see it, leave the same "source" and add it to the point of destination 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 can be entered using the "load" button, but you must have them in a format separated by spaces of the form "point number", "origin length", "origin latitude", "destination length", destination latitude ".
In the button «view link table» you can see each of the control points, according to the data you have, you can add enough so that the image deforms as close as possible to the shape of streets.
After the image acquires the transformations "georeferencing / update georeferencing" is applied.
The ideal is to export it to a format that preserves the georeference, for that is done right mouse button, on the image, then data / export data and choose the format, which can be img, tiff or as grid ... even in mosaic.
Here you can see the complete post (in Portuguese)