It would be better if the bed were a bit deeper since right now the small distance front to back really limits what you can plant there to a single line of very narrow and probably small plants. With the relatively high porch and tall house, plants that reach as least as high as the porch floor will look best, and shrubs will be lowest maintenance. So having a larger planting space front to back will be the easiest to maintain. Are you willing/able to do that? I am thinking a minimum of 6' front to back, and perhaps swinging out on the right side to accommodate a small flowering tree such as one of the smaller crabapples or a variegated pagoda dogwood. At least one kind of evergreen shrub such as one of the smallest Thujas/arborvitaes and then either one flowering shrub such as a panicled hydrangea or a different evergreen would be nice, especially if you planted an evergreen groundcover under it. Just be sure that at its largest there will still be space behind the shrub(s) so there isn't rot on the porch from constant moisture; don't put in plants that fill the space initially since they will be too large in just a couple of years. 6 hours of afternoon sunlight, especially with the bright morning shade (no near buildings or overhanging trees) means that you most likely want to use sun plants. I like the generous width of the walkway and steps.

Heaven scent gardenia is hardy to -10 degrees F. They are easy to keep at 2' x 2' indefinitely with once a summer pruning. Many camellias grow successfully in zone 6B if protected from winter wind. Some can be kept at 2' x 3' easily with light pruning once a season. Shrubs that drape over the wall help add to a fuller look.

If how the edge of the walk-to-your-front-door has become exposed over a 17 year period, is what you're talking about, all you need to do is add some topsoil alongside it, in order to re-conceal it There isn't another more efficient or more practical solution. But don't do this until the weather has warmed up and plants start actively growing. At that time, just add the topsoil and the grass will quickly grow through it, cover it and hold the soil in place. As a long term maintenance strategy, it would be much better to add thin layers of topsoil over the turf every two or three years, to keep it flush with the walk, than it would be to add one thick layer every seventeen years. It's the case that Google does not update it's Streetview pictures annually. The picture showing now could be several years old and, based on the state of the tree in the picture, I suspect it is. If the real conditions are such that the tree is producing too much shade for the grass to grow well, it's not going to be the plant that is capable of holding soil against erosion. In that case, you'd need to convert to some type of low growing, shade tolerant ground cover. If you have further questions about it, please post an accurate, updated picture that you've taken yourself.

"Here is a straight on picture." It is straight on in the sense that you are pointing the camera at something and it will not photograph around corners! Other than that, it would be hard to call this a picture that is in line with the door ... or slightly overlapping pictures ... or 180*. This is a scheme for arranging, not one of specific plants. To get suggestions for what plants could make these shapes and sizes, you can take the picture to a local nursery or the regional forum that applies to your area.