http://jsfiddle.net/Fy8vD/). Initially I created a div on top of the billboard and animated it using CSS3, which worked great except it doesn't adjust its position with the billboard as the map zooms or pans.
Next, I noticed that the Billboard .image property can be set as an Image or Canvas or Promise, so I created an additional billboard with a Canvas that contains a circle that's animated using requestAnimationFrame where its transparency (globalAlpha) and scale are changed per animation frame (i.e. creating the pulse animation). Unfortunately, this isn't as smooth as I would like and also I've noticed that it eventually crashes with an error unless I cancel the animation before a number of frames are executed:
[.WebGLRenderingContext]RENDER WARNING: texture bound to texture unit 0 is not renderable. It maybe non-power-of-2 and have incompatible texture filtering or is not 'texture complete'
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