An object capturing device includes light emission, receiving, and scanning units, and distance calculation, and object determination units. The scanning unit measures light from the emission unit to head toward a measurement target space to perform scanning, and to guide reflected light from the object with respect to the measurement light to the receiving unit. The distance calculation unit calculates a distance to the object in association with a scanning angle of the scanning unit. The object determination unit determines whether the object is a capture target based on whether a scanning angle range within which a difference between distances is equal to or less than a predetermined threshold value corresponding to a reference scanning angle range of the capture target, and a determination of whether intensity distribution of the reflected light within the scanning angle range corresponds to reference intensity distribution of the reflected light from the capture target.