1. A system for writing an occupancy grid map of a sensor centered coordinate system using a laser scanner, the system comprising: a data unit that includes scan data read by the laser scanner, a past measurement map, and data relating to a movement of the sensor; a mapping unit for stochastically combining a current measurement map written from the scan data with a predicted map written by using the past measurement map and the data relating to a movement of the sensor; and a static and dynamic object detection unit for determining whether an object in the occupancy grid map is a static or a dynamic object by using a mapping algorithm of the mapping unit.