I am currently 16000km away from my source code but for OS4Emu I wrote my own ELF loader to handle OS4 executables. It is messy approach but gives you more freedom to work with the data. IIRC it was wrapped around InternalLoadSeg() but it was only done to get automatic SegTracker support for loaded programs. But my memory is very hazy about this since I havent looked into this code for years.

I even went so far I wrote small mini-PPC emulator since I had to follow some branch instructions... it worked quite nicely :)

If you wish to go for your own ELF loader I can dig out source code to you when I am back in Finland (three more weeks in a paradise!).