. 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. <EOS>