1. An apparatus for parking position display of a vehicle, comprising: a distance sensor installed in the vehicle and configured to measure distance between the vehicle and a plurality of objects; a plurality of imaging devices disposed in the vehicle and configured to capture a plurality of surrounding images of the vehicle; a processor configured to: detect a plurality of objects around the vehicle by analyzing sensor values obtained from the distance sensor and the surrounding images captured by imaging devices; locate the detected objects based on the sensor values and the surrounding images; control a plurality of display elements corresponding to the detected objects to be output on the surrounding images based on the positions of the detected objects; temporarily store, in the surrounding images, the images of a plurality of recognized empty areas in the vicinity of the vehicle; and substitute the temporarily stored images of the empty areas for the images of empty areas which are distorted by the objects on the surrounding images.