Environment and human recognition is necessary for service robots, such as guidance, communication, or guard. Therefore the technique is suggested that record the human positional information obtained by sensors as map information. By adding human posture information to this map information, robots will be able to offer service depending on human position and posture. Therefore, in this paper, by using Kinect sensor produced by Microsoft, we judge human sitting or standing posture that people take frequently. And we suggest unification method of two kinds of map information, 1) human trajectory, and 2) sitting or standing position.