Yes you can! On the mobile app:
1. Drop a Waypoint by pressing and holding on the map where you would like to place the waypoint
2. When the waypoint is placed, tap the 3D View button on the waypoint card to go into first-person view mode
3. Move your phone around to view the area of the map around you in 360 degrees!
4. When you are finished, simply tap the X button to return to the map