Any API for finding Google business page listings?

Question

Hi,

I have a web app which shows some info on local businesses. I have an option to search Yelp for a corresponding page for the business.

Does google offer a similar way of searching for a business page under Google Maps? For example, here's a business page:

http://maps.google.com/places/us/san-francisco/guerrero-st/600/-tartine-bakery

but is there an API I can use to search for this? Something like searching for "Joe's Car Shop, NY NY"?

Thanks