Active Scan LIDAR is one of the actively developed distance measurement sensors in recent years. It has a great advantage that it can control the laser irradiation direction arbitrary and rapidly. By using this sensor, we will be able to scan distant pedestrians densely. However, an efficient scanning method nor strategy have not been established on obtaining dense point-clouds from pedestrians. Therefore, this paper proposes an efficient pedestrian scanning method based on pedestrian likelihood estimation using an Active Scan LIDAR. To evaluate the performance of the proposed method, Active Scan LIDAR was simulated using point-clouds obtained by a conventional LIDAR. The experiment results demonstrated the effectiveness of the proposed method.