. A laser radar device comprising: a laser light transmitter and receiver (11,12,13;11,61,62) to radiate laser light toward a measurement object while changing a beam scanning angle, and receive said laser light which is reflected by said measurement object and then returns thereto; an elapsed time measurer to measure an elapsed time that elapses from a time when the laser light is radiated from said laser light transmitter and receiver (11,12;11,61) to a time when the laser light is received by said laser light transmitter and receiver (12,13;61,62); a distance calculator to calculate a distance from said device in question to said measurement object by using the elapsed time measured by said elapsed time measurer; an imager to image the distance calculated by said distance calculator; a quality determinator (16;40;52;64) to determine whether an omission in measurement portions occurs in an image generated by said imager, and, when determining that the omission in measurement portions occurs, determine that image quality of the generated image does not satisfy reference quality; and a relative relation changer (16;40;52;64) to change at least one of a speed and an altitude of said device in question with respect to said measurement object when said quality determinator(16;40;52;64) determines that the image quality does not satisfy the reference quality, wherein said quality determinator(16;40;52;64) determines whether the omission in measurement portions occurs in the image generated by said imager from a relation among a speed of a moving object in which said device in question is mounted, an altitude of said moving object, a beam divergence, and a beam scanning rate, and, when the omission in measurement portions occurs, determines that said image quality does not satisfy the reference quality. a laser light transmitter and receiver (11,12,13;11,61,62) to radiate laser light toward a measurement object while changing a beam scanning angle, and receive said laser light which is reflected by said measurement object and then returns thereto; an elapsed time measurer to measure an elapsed time that elapses from a time when the laser light is radiated from said laser light transmitter and receiver (11,12;11,61) to a time when the laser light is received by said laser light transmitter and receiver (12,13;61,62); a distance calculator to calculate a distance from said device in question to said measurement object by using the elapsed time measured by said elapsed time measurer; an imager to image the distance calculated by said distance calculator; a quality determinator (16;40;52;64) to determine whether an omission in measurement portions occurs in an image generated by said imager, and, when determining that the omission in measurement portions occurs, determine that image quality of the generated image does not satisfy reference quality; and a relative relation changer (16;40;52;64) to change at least one of a speed and an altitude of said device in question with respect to said measurement object when said quality determinator(16;40;52;64) determines that the image quality does not satisfy the reference quality, wherein said quality determinator(16;40;52;64) determines whether the omission in measurement portions occurs in the image generated by said imager from a relation among a speed of a moving object in which said device in question is mounted, an altitude of said moving object, a beam divergence, and a beam scanning rate, and, when the omission in measurement portions occurs, determines that said image quality does not satisfy the reference quality.