<p>Conventionally, human-aware navigation systems rely solely on onboard sensors, and due to the limited ranges of the sensors, it is difficult to detect pedestrians in blind spots. In this study, we propose an indoor human-aware navigation system, Surveillance Camera Assisted Navigation (SCAN). The developed system utilizes existing surveillance cameras equipped in the building to detect humans who are invisible to the onboard sensors of the robot. With the developed system, a human costmap layer is generated for the robot to maintain safety distance considering the movements of pedestrians detected by indoor cameras. The performance of the developed SCAN system was validated using both simulations and real-world experiments. The results demonstrate the effectiveness of the developed system in improving navigation safety without sacrificing navigation efficiency.</p>