There is provided an image forming apparatus that accurately obtains the dynamic characteristic of the apparatus when a foreign substance is adhered to a driving roller for driving an endless belt, such as a facing roller. To accomplish this, the image forming apparatus uses an optical sensor to detect information of a foreign substance on the facing roller. When it is determined that there is no foreign substance information, the image forming apparatus executes profile detection of an intermediate transfer belt using the nominal circumference of the facing roller. When the optical sensor detects foreign substance information, the image forming apparatus measures the circumference of the facing roller, and performs profile detection of the intermediate transfer belt using the measured circumference of the facing roller.