He created a Tumblr, 9-eyes - named after the 9 cameras Google Street View uses - where he curates the best images he finds.
Rafman says sometimes he picks a location and "just wanders," captivated by what he sees.
He also doesn't document where exactly the photos were taken.
He told The New York Times in 2013:
There's also this excitement that potentially I was the first to ever look at this image because there's no cameraman - it's just a robot. There's something inherently exciting knowing that you might be the first person to ever gaze upon a scene that happened in the past.
The photos are truly amazing.