Deriviste provides a simple interface to add nodes to OpenStreetMap based on what you see in Mapillary street-level imagery.
The currently selected node is shown in red, others in blue. You can drag the nodes around to fine-tune their position. (You can also place nodes by double-clicking on the map.)
Don't forget to revisit the area with iD, Potlatch 2 or Vespucci to remove any duplicates and generally clean up. The Mapillary API sometimes fails to find co-ordinates for a click - sorry about that.