I think GeoSetter will give you what you want. I use it to geotag my photos using a gpx track file. It will then show the photo positions on a google map style of your choice. http://www.geosetter.de/en It's free and regularly updated.
I've never tried it, but i believe picasa has some support for this... just had a quick google and it allows you to put geotags on your photos, but not sure if it has the map display your after.