Abstract: A lack of recognition with blind spots of driver's view is one of causes of traffic accidents. In this research, we propose a visual assistance system that can assist the driver's vision obstructed by the preceding large vehicle by making the blind spots semi-transparent. Under the use of this system, each vehicle should be equipped with in-vehicle stereo camera which captures forward. And in-vehicle camera images are shared with inter-vehicle communication to supplement other vehicle driver's vision. The assistance images for drivers are generated from shared preceding vehicle camera images and reconstructed by cutting the blind spot region and positioning with estimated relation using computer vision techniques. In this paper, we describe the methods of estimation of the relative positions and generation of the assistance images. Further, we indicate the prototype implementation of proposed system and the assistance presentation result of it.