Thankstothehighly-denselightinginfrastructureinpublicareas,visiblelightemergesasapromisingmeanstoindoorlocalizationandnavigation.State-of-the-arttechniquesgenerallyrequirecustomizedhardware(sensingboards),andmainlyworkwithonesinglelightsource(e.g.,customizedLEDs).Thisgreatlylimitstheirappl