Abstract: A system for monitoring surroundings of a vehicle includes a first imaging device provided on a side of a host vehicle to generate a first image of side and rear directions of the host vehicle; a second imaging device provided on a rear of the host vehicle to generate a second image of the rear direction of the host vehicle; and a control device configured to generate a synthesized image by synthesizing a reference image extracted from the first image and a modified image extracted from the second image. The control device is configured to generate the synthesized image in response to a distance between a counterpart vehicle corresponding to an object commonly included in the first image and the second image and the host vehicle becoming less than or equal to a first threshold distance.