This already exists. If my phone fails to get a good GPS signal Google Maps prompts me to turn the camera on and spin around in a circle. I would also be unsurprised to learn Waymo uses Street View

>could also help autonomous vehicles as they would get more information than what they can immediately see.

Waymo and others already do this, that's why they can only operate in mapped areas.

Given that Waymo is a google company, they almost certainly started with street view data.