1. An apparatus for building a map of probability distribution, comprising: a sensor information collector configured to collect sensor information from a plurality of physical 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; 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, and a database configured to store definition of the object, the object property model, and a system property model which is a model about properties of a system, wherein the probability distribution creator searches for the object information in the database to determine whether the object corresponding to the object information has been defined in the database, wherein the probability distribution creator acquires the object properties using the object property model if the object information has been defined in the database, and creates the object properties using the object information of the recognized object if the object information has not been defined in the database.