1. An apparatus for building a map of probability distribution, comprising: a sensor information collector configured to collect sensor information from, a plurality of sensors; an object recognizer configured to recognize an object by integrating and inferring the sensor information, and to acquire object information which is information about the object; and a probability distribution creator configured to determine whether to apply an object property model including at least one of kinematic properties, shape properties, and probabilistic properties in correspondence to the object information, to acquire object properties corresponding to the object, information, and to create a probability distribution based on the object properties.