This paper introduces a new model of pedestrian flow, formulated within a measure-theoretic framework. It consists of a macroscopic representation of the system via a family of measures which, pushed forward by some flow maps, provide an estimate of the space occupancy by pedestrians at successive times. From the modeling point of view, this setting is particularly suitable for treating nonlocal interactions among pedestrians, obstacles, and wall boundary conditions. In addition, the analysis and numerical approximation of the resulting mathematical structures, which are the principal objectives of this work, follow more easily than for models based on standard hyperbolic conservation laws.