Alternatively, bergie and I wrote some python scripts to convert directly from GeoRSS feeds to MaemoMapper POI. It's part of the GeoClue project, so there is preliminary usage of the GeoClue api to get your current location. You can remove this if you want. We have a much more updated one that does automatic feed update whenever you change positions as well.

http://projects.highearthorbit.com/g.../georss2poi.py
http://projects.highearthorbit.com/g.../feedparser.py

Google MyMaps doesn't have GeoRSS output, but you can pass it through Mapufacture, which will convert from KML to GeoRSS, and then just run this script to have it populate your POI database.

Or someone could modify the script to consume KML instead.