Legal Disclaimer

The following is for general information purposes only and should not be taken as legal advice for any particular situation. If you have a specific concern you should consult with an attorney familiar with the relevant issues in the jurisdiction in question. Since the questioner indicated they were located in the U.S., this answer assumes that to be the case.

The way you describe you want to use the photos you have taken is known as editorial and artistic usage. Commercial usage means you want to use the images to represent an endorsement of a certain product or service. The standard is much higher for commercial usage than editorial/artistic. In general you can use images you created while shooting from a public space for editorial use without a release from the owner of property seen from a public space. There are exceptions for things such as trademarked designs, unique and recognizable architectural works, public artworks, etc. that are the intellectual property of someone else.

Having said that, just because you can do something doesn't always mean you should. And even though you are within your rights to use images obtained while shooting from a public place, it would make the venture much less risky if you could obtain written permission to use them from the property owners. Consider this. Even if you were to prevail in a lawsuit against you, you would still be responsible for the cost of mounting a legal defense.