Practical VLC (Visible Light Communication) systems are expected to leverage the lighting infrastructure in order to deliver data to devices in a lighting field. These devices can be static or quasistatic (e. g. , laptops or IoT devices); however, it is becoming clear that the preponderance of wireless data consumption is dominated by handheld mobile devices which will exhibit varying physical orientations and 3D dynamics. Because free-space optical and visible light communications are primarily