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In this paper, we propose a method of sensor data processing that detects the direction and the stride of walking. We have proposed a positioning system using only a combination of passive motion sensors and image data, but the precision of the positioning of the previous method was insufficient. The previous method, which counted the number of steps from the up-and-down motion of the foot, had severe limitations. It only could detect forward motion, and therefore could handle less flexibility of walking. In order to solve this problem, we paid attention to the movement of the swing phase and the stance phase of walking and detected the direction and the stride of walking, using data of horizontal acceleration. The proposed method recognizes movement to the front and rear, and to the right and left. Acquired sensor data will be collated with the image data from a camera. Based on the prototype system, the experimental evaluation of the proposed method is demonstrated.