A laser scanner includes: a light source; a scanning mirror that scans laser light emitted from the light source, toward a target object by oscillating about axis C; a photodetector that generates a photodetection signal upon receiving the laser light reflected from the target object; a controller that controls emission of the laser light by the light source, and that performs sampling on the photodetection signal; and a detector that detects an amount of displacement of the scanning mirror, and calculates a resonant frequency of the scanning mirror based on the amount of displacement detected. The controller determines a time at which the laser light is emitted from the light source and a time at which sampling is performed on the photodetection signal, based on the resonant frequency calculated.