An optical scanning device comprising: a mirror portion having a reflecting surface for reflecting incident light; a first actuator that allows the mirror portion to swing around a first axis located in a plane including the reflecting surface of the mirror portion in a stationary state; a second actuator that allows the mirror portion to swing around a second axis which is located in the plane including the reflecting surface of the mirror portion in the stationary state and is orthogonal to the first axis; a first angle detection sensor that outputs a signal corresponding to an angle of the mirror portion around the first axis; a second angle detection sensor that outputs a signal corresponding to an angle of the mirror portion around the second axis; and at least one processor, wherein the processor applies a first driving signal having a first driving frequency to the first actuator, applies a second driving signal having a second driving frequency to the second actuator, generates a first angle detection signal by performing first frequency filter processing on an output signal of the first angle detection sensor, extracting a signal component from a first frequency band centered around the first driving frequency, while excluding components from the second driving frequency, generates a second angle detection signal by performing second frequency filter processing on an output signal of the second angle detection sensor, extracting a signal component from a second frequency band centered around the second driving frequency, while excluding components from the first driving frequency, derives a first angle, which is the angle of the mirror portion around the first axis, based on the first angle detection signal, derives a second angle, which is the angle of the mirror portion around the second axis, based on the second angle detection signal, adjusts the first driving signal based on the first angle, and adjusts the second driving signal based on the second angle. a mirror portion having a reflecting surface for reflecting incident light; a first actuator that allows the mirror portion to swing around a first axis located in a plane including the reflecting surface of the mirror portion in a stationary state; a second actuator that allows the mirror portion to swing around a second axis which is located in the plane including the reflecting surface of the mirror portion in the stationary state and is orthogonal to the first axis; a first angle detection sensor that outputs a signal corresponding to an angle of the mirror portion around the first axis; a second angle detection sensor that outputs a signal corresponding to an angle of the mirror portion around the second axis; and at least one processor, wherein the processor applies a first driving signal having a first driving frequency to the first actuator, applies a second driving signal having a second driving frequency to the second actuator, generates a first angle detection signal by performing first frequency filter processing on an output signal of the first angle detection sensor, extracting a signal component from a first frequency band centered around the first driving frequency, while excluding components from the second driving frequency, generates a second angle detection signal by performing second frequency filter processing on an output signal of the second angle detection sensor, extracting a signal component from a second frequency band centered around the second driving frequency, while excluding components from the first driving frequency, derives a first angle, which is the angle of the mirror portion around the first axis, based on the first angle detection signal, derives a second angle, which is the angle of the mirror portion around the second axis, based on the second angle detection signal, adjusts the first driving signal based on the first angle, and adjusts the second driving signal based on the second angle.