1. A lane departure sensing method using a vehicle surrounding image, comprising: receiving images captured by a plurality of cameras installed to a car running, over respective channels connected to the cameras; generating a plurality of revised images by revising the captured images into a top-view; generating the vehicle surrounding image by synthesizing the plurality of the revised images; extracting a lane from the vehicle surrounding image, and determining lane departure by calculating distance information between the vehicle and the extracted lane or angle information formed by a moving direction of the vehicle and the extracted vehicle; and when determining the lane departure, issuing a warning.