1. A parking camera system, the system including: a plurality of cameras equipped with a vehicle; an image synthesizer for synthesizing images photographed by the plurality of cameras; a memory storing a parking guide line of the vehicle, a parking area image and a vehicle image; an input unit allowing the driver to select and input a parking mode including a parallel parking or a right angle parking; and an estimated travel trajectory generating and overlaying processor for generating an estimated travel trajectory of the vehicle by receiving steering angle information of the vehicle, and synthesizing the estimated travel trajectory of the vehicle with the images synthesized by the image synthesizer, wherein the memory outputs to the image synthesizer the parking guide line or the parking area image according to the selected parking mode, and wherein the image synthesizer synthesizes at least one or more of the parking guide line, the parking area image and the vehicle image with images photographed by the cameras.