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To ellaborate on what Austin said, I worked on precisely this problem.

In the people stack that Austin referenced, there is a laser-based people tracker. Their direction is based on tracking their motion from frame to frame.

Be sure to check out Layered Costmaps in the Hydro navigation package (http://wiki.ros.org/costmap_2d). There's a groovy fork in my repo available as well. https://github.com/DLu/navigation/tree/groovy_dev My implementation uses a Proxemics-based layer, the code for which can be found in the social_navigation_layers package in the people stack. https://github.com/DLu/people