An image transmission apparatus includes an imaging device, wireless communication equipment and at least one processor. The processor determines whether the wireless communication equipment is able to complete transmission of a first frame image within a transmission period corresponding to a first imaging cycle. The processor controls the wireless communication equipment to continue transmission of the first frame image in a transmission period of a second frame image output from the imaging device in a second imaging cycle when the processor determines that the wireless communication equipment is not able to complete transmission of the first frame image.