1. A parking space recognition system comprising: a vehicle edge extraction unit for extracting a vehicle edge of a counterpart vehicle positioned adjacent to a parking space by analyzing an image acquired by a camera; a vehicle position extraction unit for extracting a vehicle position of the counterpart vehicle by analyzing ultrasonic wave data acquired by an ultrasonic sensor; a vehicle edge position analysis unit for analyzing the vehicle edge position for the extracted vehicle edge by mapping the extracted vehicle edge and the extracted vehicle position; and a parking space recognition unit for recognizing the parking space by determining the position of the counterpart vehicle on the basis of the analyzed vehicle edge position.