A positioning device to position a first member relative to a second member includes two convex parts disposed on a side of the first member and apart from each other; and positioning portions disposed on a side of the second member so as to contact the convex parts, each of which is disposed apart from each other and opposed to the two convex parts. The positioning portions includes two planar portions disposed substantially perpendicularly relative to a direction to allow the first member to approach the second member; and a slanted portion disposed in the vicinity of one of the two planar portions and angled with respect to a direction to allow the first member to approach the second member. The second member is an endless belt, on which an image pattern for detection is formed, and the first member is a sensor to detect the image pattern formed on the endless belt.