This paper describes a pedestrian tracking system by laser scanner TOP-URG by Hokuyo Co. Ltd. mounted on our mobile robot Pen2. Since it has 0.25° resolution at 40 [hz], it can detect human leg (about φ 10 [cm]) from at most 10 [m] distance. System detects leg candidates then tries to track about it, by distinguishing stational objects in the map that robot has previously obtained. Experimental results is also shown.
