Select Map from the bottom categories.

From the Map screen you will see any preexisting Points of Interest (POI) if another member has added any in your area.

Select + to add a new POI.

Select the Type of POI you are looking to add

Drag the icon on the map.

From the Map screen you can locate the POI anywhere on the map, once you are satisfied that the POI is located where you want it to appear on the map you can select "Next" in the top right.

Finalizing the POI.

Once you've added where you want the POI to be located you can add additional information which can be helpful in the future.