A distance measurement device controls an emission direction of a laser beam in a light projection device and a reception direction of a laser beam in a light reception device, obtains a reception intensity of the laser beam received by the light reception device, determines whether or not the laser beam received by the light reception device is a laser beam reflected by a target of distance measurement on the basis of a reception direction of the laser beam, a period of time between when the light projection device emits the laser beam and when the light reception device receives the laser beam, a reception intensity of the laser beam, and determination information, and calculates a distance to the target in a case when the laser beam received by the light reception device is the laser beam reflected by the target.