Sounds to me like this could either be a hypnopompic hallucination (a hallucination between sleep and waking), a false awakening (you were really still dreaming, but had dreamed you had just woken up), or sleep paralysis with a sensed presence.
Are you positive that you were awake when you see this guy? Try some reality checks next time it happens. How long does it stick around for? Can you move your body, and do you experience any other hallucinations? You said gasping and calling out, so it sounds like it isn't sleep paralysis.
One thing you could really try is to prevent this in the first place, by reality checking every time you feel scared or afraid (which can be difficult since that's probably the last thing on your mind when you are scared in RL). Then you could become lucid to stop these nightmares in the first place, and to be aware and ready when you wake up. Also, do some reading on hypnopompic hallucinations, just try to reassure yourself while awake that it's nothing to worry about, so that if you wake up you can feel safer.
Personally, having my dog sleeping in my bed makes me feel better when I wake up from bad dreams. Even though I don't hallucinate, I'm still scared and paranoid but seeing my dog relaxed and snoozing away makes me feel better. Do you have a pet or any other way to do this, so that if you see something you know it's just you?
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