Parking assist apparatus and parking assist method and parking assist system using the same

Disclosed are a parking assist apparatus, a parking assist method capable of more accurately recognizing a parking space and identifying and recognizing obstacles using a three-dimensional flash Lidar and a parking assist system using the same The parking assist apparatus according to an exemplary embodiment of the present invention includes: an information unit acquiring information collected by using a three-dimensional flash Lidar; and a determination unit determining at least any one of a parking space and presence and absence of obstacles using the information acquired by the information unit.