Seems like it’s not allowed.
As far as I see there is no separate license for street view, so the license of Google maps applies here.
And there is no license to use Google Maps for mapping.

Source:

http://www.mail-archive.com/dev@openstreetmap.org/msg02953.html
http://help.openstreetmap.org/questions/710/can-i-use-google-streetview-to-help-create-maps