# Visible Light Positioning With Lam'e Curve LEDs: A Generic Approach for Camera Pose Estimation

arXiv: https://arxiv.org/abs/2602.01577 · HTML: https://mlsanity.com/paper/2602.01577/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 10 of its 47 references that are in the map.
- First posted on arXiv 2 Feb 2026.

## Builds on (most cited first, 10 of 10)

- [Positioning Using Wireless Networks: Applications, Recent Progress and Future Challenges](https://mlsanity.com/paper/2403.11417/) (2024)
- [Positioning Using Visible Light Communications: A Perspective Arcs Approach](https://mlsanity.com/paper/2204.08131/) (2022)
- [A Survey on Indoor Visible Light Positioning Systems: Fundamentals, Applications, and Challenges](https://mlsanity.com/paper/2401.13893/) (2024)
- [Floor-Plan-aided Indoor Localization: Zero-Shot Learning Framework, Data Sets, and Prototype](https://mlsanity.com/paper/2405.13339/) (2024)
- [Second-Order Constrained Dynamic Optimization](https://mlsanity.com/paper/2409.11649/) (2024)
- [A High Coverage Camera Assisted Received Signal Strength Ratio Algorithm for Indoor Visible Light Positioning](https://mlsanity.com/paper/2004.06294/) (2020)
- [A Novel Received Signal Strength Assisted Perspective-three-Point Algorithm for Indoor Visible Light Positioning](https://mlsanity.com/paper/2005.11162/) (2020)
- [Fusing Bluetooth With Pedestrian Dead Reckoning: A Floor Plan-Assisted Positioning Approach](https://mlsanity.com/paper/2504.09905/) (2025)
- [Passive Multi-Target Visible Light Positioning Based on Multi-Camera Joint Optimization](https://mlsanity.com/paper/2506.02418/) (2025)
- [Unmodulated Visible Light Positioning: A Deep Dive into Techniques, Studies, and Future Prospects](https://mlsanity.com/paper/2507.13080/) (2025)

## Abstract (arXiv)

Camera-based visible light positioning (VLP) is a promising technique for accurate and low-cost indoor camera pose estimation (CPE). To reduce the number of required light-emitting diodes (LEDs), advanced methods commonly exploit LED shape features for positioning. Although interesting, they are typically restricted to a single LED geometry, leading to failure in heterogeneous LED-shape scenarios. To address this challenge, this paper investigates Lam'e curves as a unified representation of common LED shapes and proposes a generic VLP algorithm using Lam'e curve-shaped LEDs, termed LC-VLP. In the considered system, multiple ceiling-mounted Lam'e curve-shaped LEDs periodically broadcast their curve parameters via visible light communication, which are captured by a camera-equipped receiver. Based on the received LED images and curve parameters, the receiver can estimate the camera pose using LC-VLP. Specifically, an LED database is constructed offline to store the curve parameters, while online positioning is formulated as a nonlinear least-squares problem and solved iteratively. To provide a reliable initialization, a correspondence-free perspective-n-points (FreePnP) algorithm is further developed, enabling approximate CPE without any pre-calibrated reference points. The performance of LC-VLP is verified by both simulations and experiments. Simulations show that LC-VLP outperforms state-of-the-art methods in both circular- and rectangular-LED scenarios. Compared to a perspective arcs algorithm, LC-VLP can achieve reductions of both over 30% in average position and rotation errors. Experiments further show that LC-VLP can achieve an average position accuracy of less than 4 cm.