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This paper describes a portable passive millimeter-wave sensor designed for remote detection of both metallic and non-metallic objects hidden on a human body under cloth. The sensor is based on a directly detection and analyses of the energy emitted by a human body. The algorithm of detection estimates unimodality features of traces recorded in the process of a manual scan. The sensor demonstrates a detection probability in the laboratory environment close to 100% at a distance of up to 3 m for the tested samples of explosives and metal objects hidden under cloth.