Recently, requirement of city monitoring and maintenance using ICT techniques increases with the help of transportation system. In addition, the spread of COVID-19 has increased the demand for managing pedestrian traffic volume. To contribute to these trends, in this paper, we propose a new pedestrian radar map system in order to estimate pedestrian density on streets and sidewalks. Our system uses e-bikes to collect 360-degree images and visualize pedestrian positions as a radar map. In evaluations, we confirm the accuracies of the radar maps and pedestrian density by using KITTI dataset and by carrying out a field experiment.