PROBLEM TO BE SOLVED: To provide a walking measurement system capable of accurately grasping walking property of a subject.SOLUTION: A walking measurement system 100 comprises a laser range sensor 10 and an electronic controller 20. The laser range sensor 10 emits laser beam so as to scan along a horizontal direction, and based on a reflection state of the laser beam, acquires two-dimensional plane distance information related to a distance with leg parts of a subject on which the laser beam is reflected, over time. A data analysis part 24 of the electronic controller 20 performs filtering processing which uses a walking model in which, plural walking phases are defined, the plural walking phases contain a first walking phase when both leg parts of the subject are support legs, based on at least the two-dimensional plane distance information, and associates a position and a speed of the leg parts of the subject with a time, then calculates the position and the speed.SELECTED DRAWING: Figure 1
