  Visible light positioning (VLP) technology is a promising technique as it can
provide high accuracy positioning based on the existing lighting
infrastructure. However, existing approaches often require dense lighting
distributions. Additionally, due to complicated indoor environments, it is
still challenging to develop a robust VLP. In this work, we proposed
loosely-coupled multi-sensor fusion method based on VLP and Simultaneous
Localization and Mapping (SLAM), with light detection and ranging (LiDAR),
odometry, and rolling shutter camera. Our method can provide accurate and
robust robotics localization and navigation in LED-shortage or even outage
situations. The efficacy of the proposed scheme is verified by extensive
real-time experiment. The results show that our proposed scheme can provide an
average accuracy of 2 cm and the average computational time in low-cost
embedded platforms is around 50 ms.
