  In this paper, we propose a novel visible light communication (VLC) assisted
Perspective-fourLine algorithm (V-P4L) for practical indoor localization. The
basic idea of V-P4L is to joint VLC and computer vision to achieve high
accuracy regardless of LED height differences. In particular, we first exploit
the space-domain information to estimate the orientation and coordinate of a
single rectangular LED luminaire in the camera coordinate system based on the
plane and solid geometry. Then, based on the time-domain information
transmitted by VLC and the estimated luminaire information, V-P4L can estimate
the position and pose of the camera by the single-view geometry theory and the
linear least square (LLS) method. To further mitigate the effect of height
differences among LEDs on localization accuracy, we then propose a correction
algorithm of V-P4L based on the LLS method and a simple optimization method.
Due to the combination of time- and space-domain information, V-P4L only
requires a single luminaire for localization without limitation on the
correspondences between the features and their projections. Simulation results
show that for V-P4L the position error is always less than 15 cm and the
orientation error is always less than 3{\deg} using popular indoor luminaires.
