Google Maps for Android now supports virtual reality Street View, so long as you have a Cardboard VR viewer.
Google Maps Gets Virtual Reality Support : Read more
Google Maps Gets Virtual Reality Support : Read more
If all you need is your android phone and some cardboard VR headset, then I'm sorry, it is basically like looking at your phone with gyro on, which has already been done in an app called Tourist and countless others and instead of moving your head, you move your body.