A distance measuring device comprising: a light emitter including a light source configured to emit an optical signal, wherein the light emitter is configured to change an emitting direction of the optical signal for scanning; a first light receiver including a first sensor and a first optical system, wherein the first sensor includes a plurality of first pixels arranged two-dimensionally on a first substrate, and the first optical system is configured to guide a reflected light of the optical signal emitted from the light emitter to the first sensor; a second light receiver including a second sensor and a second optical system, wherein the second sensor includes a plurality of second pixels arranged two-dimensionally on a second substrate different from the first substrate, and the second optical system is configured to guide the reflected light to the second sensor; a measurement section configured to calculate a first distance value and a second distance value, wherein the first distance value is calculated using a first time and a second time, and the second distance value is calculated using the first time and a third time, and wherein the first time is a time at which the light source emits the optical signal, the second time is a time at which the first sensor detects the reflected light, and the third time is a time at which the second sensor detects the reflected light; and a controller configured to cause the light source to emit the optical signal intermittently, wherein the controller is configured to perform the scanning using the optical signal, set a first light-receiving area in which at least one first pixel among the first pixels is selectively turned on in the first sensor, set a second light-receiving area in which at least one second pixel among the second pixels is selectively turned on in the second sensor, and determine a position of the first light-receiving area and a position of the second light-receiving area according to the emitting direction, wherein a focal distance of the first optical system is longer than a focal distance of the second optical system. a light emitter including a light source configured to emit an optical signal, wherein the light emitter is configured to change an emitting direction of the optical signal for scanning; a first light receiver including a first sensor and a first optical system, wherein the first sensor includes a plurality of first pixels arranged two-dimensionally on a first substrate, and the first optical system is configured to guide a reflected light of the optical signal emitted from the light emitter to the first sensor; a second light receiver including a second sensor and a second optical system, wherein the second sensor includes a plurality of second pixels arranged two-dimensionally on a second substrate different from the first substrate, and the second optical system is configured to guide the reflected light to the second sensor; a measurement section configured to calculate a first distance value and a second distance value, wherein the first distance value is calculated using a first time and a second time, and the second distance value is calculated using the first time and a third time, and wherein the first time is a time at which the light source emits the optical signal, the second time is a time at which the first sensor detects the reflected light, and the third time is a time at which the second sensor detects the reflected light; and a controller configured to cause the light source to emit the optical signal intermittently, wherein the controller is configured to perform the scanning using the optical signal, set a first light-receiving area in which at least one first pixel among the first pixels is selectively turned on in the first sensor, set a second light-receiving area in which at least one second pixel among the second pixels is selectively turned on in the second sensor, and determine a position of the first light-receiving area and a position of the second light-receiving area according to the emitting direction, wherein a focal distance of the first optical system is longer than a focal distance of the second optical system.