Recently, constructions of obstruction-warning signals and emergency buttons have been urgently needed at level crossings. However, the construction of these wayside facilities involves considerable inefficiency because it requires a joint survey or instruction to check these visibility from the train cab. Therefore, we have developed a simulator that overlays wayside facilities’ image on video sequences by estimating a three-dimensional position using our rail extraction method. In this paper, we present the concept of the simulator, details of the method, and an accuracy verification based on actual video sequences.