A measurement apparatus is provided that includes a distance measuring unit, a deflecting unit, and a calculation control unit which controls the distance measuring unit and the deflecting unit. The calculation control unit detects coordinates of a pair of intersection points of the object to be measured and a scan trajectory with the measurement light on the basis of a distance measurement result by the distance measuring unit and the direction of emission deflected by the deflecting unit. The calculation control unit controls a deflection operation of the deflecting unit so as to change the direction of emission on the basis of the coordinates of the pair of intersection points such that the scan trajectory with the measurement light and the object to be measured intersect with each other.