Я нашел способ:
try {
Image poiImage = Image.createImage("/res/drawable/gps_marker.png");
PlaceLabel poiLabel =new PlaceLabel("location");
Place p = new Place(1, poiLabel, poiImage, lon, lat);
mapComponent.addPlace(p);
} catch (IOException e) {
Log.d("MAPA", "Couldn't location marker image.");
}
Где mapComponent - это BasicMapComponent.