###### Abstract  
Communication performance in the color-independent visual-multiple input multiple output (visual-MIMO) technique is deteriorated by light emitting array (LEA) detection and tracking errors in the received image because the image sensor included in the camera must be used as the receiver in the visual-MIMO system. In this paper, in order to improve detection reliability, we first set up the color-space-based region of interest (ROI) in which an LEA is likely to be placed, and then use the Harris corner detection method. Next, we use Kalman filtering for robust tracking by predicting the most probable location of the LEA when the relative position between the camera and the LEA varies. In the last step of our proposed method, the perspective projection is used to correct the distorted image, which can improve the symbol decision accuracy. Finally, through numerical simulation, we show the possibility of robust detection and tracking of the LEA, which results in a symbol error rate (SER) performance improvement. visual-MIMO; GCM; color independency; LEA detection; LEA tracking 2016 16 1027 20  
(e.g., barcodes) for off-the-shelf smart devices. Although it mentioned the importance of transmitter tracking, but a detailed analysis was not done, leaving the future challenges. In [10], we showed the applicability of generalized color modulation (GCM)-based visual-MIMO for V2X. By using the proposed visual-MIMO scheme, while performing seamless communication, we can maintain the original color and brightness in addition to increasing the capacity by using color encoding. As described above, in most of the previous works, a high-speed camera (or a special CMOS image sensor) was used as a receiver and an intensity-based modulation (e.g., OOK) has been used. On the other hand, we have used a general purpose commercial camera as a receiver. Also, in our paper, the detection and tracking method of an LEA optimized for GCM-based visual-MIMO is described systematically based on image processing. Our LEA detection method is best suitable for GCM and the GCM was originally proposed by ourselves [11]. This visual-MIMO based communication technique has numerous applications in situations in which line-of-sight (LOS) communication is desirable. For example, this approach enables novel advertising applications such as smartphone users pointing cell phone cameras at electronic billboards to receive further information including documents, movie clips, or website URLs. Another example is a museum application in which a kiosk display transfers exhibit information to cell phone cameras to produce maps, images, and customized audio museum tours. Applications are not limited to hand-held cameras and electronic displays: they also include vehicle-to-everything (V2X) communication, robot-to-robot communication, and hand-held displays for fixed surveillance cameras [8; 10]. Additionally, LED lighting devices have been developed to a high level: currently, LEDs can emit light in various colors (close to full-color). The lighting color might be changed depending on the person's emotion or environmental factors. However, it will be useful to achieve visible light communication that can maintain the original color and brightness while performing seamless communication. To solve this problem, a color-space-based modulation (CSBM) scheme, called generalized color modulation (GCM), was proposed and analyzed for color-independent VLC systems [11]. The modifier \"color-independent\" indicates the independence of the variations in the light color and light intensity. Some notable features of GCM include color independency, dimming control, and reasonable bit error rate (BER) performance during color variation. By incorporating GCM into visual-MIMO, we can obtain better symbol error rate (SER) performance, higher data rate over a larger transmission range, and most importantly, color independency when compared with conventional LED communication.