© 2020 Elsevier B.V. Recently, there have been several studies on the research and development of service robots, such as reception or waiter robots for facilities and companion robots for support of baggage transportation or guidance in public spaces. Several experimental results in real environments have been reported. To realize socially acceptable human–robot interaction for service robots, human recognition, including not only position but also body direction, around the robot is important. Using an RGB-D camera, it is possible to detect the posture of a person. However, because the viewing angle of the camera is narrow, it is difficult to recognize the environment around the robot with a single device. This study proposes the estimation of the body direction based on the gait, that is, not only the position and velocity, but also the state of the legs (stance or swing phase), using laser range sensors installed at shin height. We verify the effectiveness of the proposed method for several patterns of movement, which are seen when a person interacts with the service robot and evaluate measurement accuracy.