I used two tools to generate panoramas. The first, autopano-sift, identifies common features in different images and aligns them along a horizon line. Another tool, hugin, uses those common elements to effectively stitch the images into a single panorama. I again used gpicsync to GPS-tag the panorama and generate a Google Earth file. To see the panorama as a 360-degree image and zoom in and pan about the scene, you can use PTViewer.