Indoor visible light positioning becomes attractive due to the
increasing demands of location-based services. This Letter proposes an
indoor imaging visible light positioning scheme with a sampled sparse
light source, image sensor, and gyro. An indoor positioning cellular with
a single reference light source and an off-the-shelf mobile device is
demonstrated. Experimental results show that the 3-dimensional positioning
error is only several centimeters even with a rotated, rolled, and pitched
mobile device. The proposed scheme is convenient and cost effective
because the transmitter takes advantage of the existing lighting
infrastructure and the receiver is a commercial mobile phone without any
extra accessories.