We propose a method of walking guidance of the visually impaired for self-reliant and safe boarding trains. An efficient recognition method for platform edges, train outer walls and train doors is proposed. The method detects corresponding planes by comparing distances obtained by a TOF-camera to that of theoretical planes. Using the recognition method, a guidance method on a set of boarding sequences is developed. A synthetic environment of platform and train is arranged in a corridor. And guidance sequence and its accuracy are evaluated on the synthetic environment. Availability of the proposed recognition method is illustrated with offline recognition by data obtained in an actual environment.