US Patent 11772555 Vehicle and method of providing surrounding information thereof

A method of providing surrounding information of a vehicle includes: detecting at least one sensor-based obstacle using sensor detection information acquired through a surroundings sensor, detecting at least one image-based obstacle using image information acquired through a plurality of cameras, detecting at least one matched obstacle from the at least one sensor-based obstacle or the at least one image-based obstacle, and correcting the position of the at least one matched obstacle using at least one of a sensor-based detection result or an image-based detection result with respect to the at least one matched obstacle.