A positional error detection method forms, on a belt which is transported in a transport direction, positional error detection marks for detecting a positional error between image positions of first and second colors, detects the positional error detection marks on the belt, and computes the positional error based on the detected positional error detection marks. The positional error detection marks include first and second marks which are inclined in mutually opposite directions with respect to the transport direction, and third marks which are perpendicular to the transport direction.