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