An image forming apparatus includes an image forming unit to form an image based on an image forming condition; a sensor to measure a measurement image formed by the image forming unit; and a controller to obtain information correlated with a change in density of an image to be formed by the image forming unit, control the sensor to measure the measurement image, determine first data related to density of the image to be formed by the image forming unit, determine, based on a result of measuring the measurement image, second data related to density of the image to be formed by the image forming unit, and generate the image forming condition based on a weighted average of the first data and the second data.