An image forming apparatus includes an image carrier, a rotation-position detector, a development device, a transfer unit, a density sensor, and an image-forming-condition determination unit. The density sensor senses a density of a toner image on a transfer body. The image-forming-condition determination unit forms an image pattern, acquires periodical density variation information sensed by the density sensor and detection information of the rotation-position detector, and determines an image forming condition based on the periodical density variation information and the detection information acquired. The image carrier and the transfer body are different in linear velocity in an image formation in which the toner image is transferred to a recording medium. The image carrier and the transfer body are controlled to be equal in linear velocity in an information acquisition in which the image-forming-condition determination unit acquires the periodical density variation information and the detection information.