In order to do that they would have to define loitering and have a law against that. According to the St. Paul municiple code loitering is not illegal unless done after midnight and on the streets. This man did absolutely nothing wrong or illegal, other than apparently be the wrong race in the wrong area.
When must you show ID to police?
http://www.kare11.com/story/news/local/2014/08/29/when-must-you-show-id-to-police/14825985/
MN has no “stop and identify” specific law