An optical scanning device includes: an optical scanning unit configured to repeatedly scan an irradiation destination of irradiation light to a predetermined trajectory; a light emission control unit configured to control light emission of the irradiation light to irradiate irradiation points to the predetermined trajectory; and a driving signal generation unit configured to generate a driving signal for driving the optical scanning unit, wherein the light emission control unit irradiates the irradiation points to the predetermined trajectory so that the irradiation points are substantially uniformly dispersed in a region in which a density of the irradiation points is relatively low in a region in which the irradiation light is irradiated.