A vehicle includes a camera unit disposed in the vehicle to have a plurality of channels and configured to obtain an image around the vehicle, the camera unit including one or more cameras, a sensing device including an ultrasonic sensor, the sensing device configured to obtain distance information between an object and the vehicle, and a controller configured to match a part of the image around the vehicle with at least one mask, form map information based on the at least one mask and the distance information, determine at least one control point based on the map information, and obtain the image around the vehicle based on a priority of the camera unit corresponding to a surrounding type of the vehicle determined based on the control point.