Human detection technologies are widely used in smart homes and autonomous vehicles. However, in order to detect human, autonomous vehicle researchers have used a high-resolution LIDAR and smart home researchers have applied a camera with a narrow detection range. In this paper, we propose a novel method using a low-cost and low-resolution LIDAR that can detect human fast and precisely without complex learning algorithm and additional devices. In other words, human can be distinguished from objects by using a new human characteristics function which is empirically extracted from the characteristics of a human. In addition, we verified the effectiveness of the proposed algorithm through a number of experiments.