This paper focuses on a road-to-vehicle visible light communication (VLC) system using LED traffic light as the transmitter and camera as the receiver. The traffic light is composed of a hundred of LEDs on two dimensional plain. In this system, data is sent as two dimensional brightness patterns by controlling each LED of the traffic light individually, and they are received as images by the camera. Here, there are problems that neighboring LEDs on the received image are merged due to less number of pixels in case that the receiver is distant from the transmitter, and/or due to blurring by defocus of the camera. Because of that, bit error rate (BER) increases due to recognition error of intensity of LEDs To solve the problem, we propose a method that estimates the intensity of LEDs by solving the inverse problem of communication channel characteristic from the transmitter to the receiver. The proposed method is evaluated by BER characteristics which are obtained by computer simulation and experiments. In the result, the proposed method can estimate with better accuracy than the conventional methods, especially in case that the received image is blurred a lot, and the number of pixels is small.