A high-precision indoor positioning method based on visible light communication and binocular vision measurement is proposed, with the aims of achieving high precision, low cost, and less interference for indoor mobile robots. This method involves the utilization of a binocular vision sensor to perform imaging measurement of a light-emitting diode(LED)light source.In addition, the three-dimensional (3D) attitude angle of the imaging measurement is recorded using an inertial measurement unit sensor, and the coordinate information of the LED light source is acquired through visible light communication technology. Finally, the 3D coordinates of the binocular vision sensor relative to the LED light source are calculated accurately. A positioning module based on the visible light communication and imaging is developed using this method, in which one or two LED light sources can be used for indoor positioning. When a 1 280×720 resolution image is adopted in the position module, centimeter-level mobile positioning can be obtained in an indoor environment of 2 m×2 m×3 m, and the positioning frequency exceeds 5 Hz. Meanwhile, when using two LED light sources at a positioning distance of 60 cm, not only can the positioning error in the 3D direction be less than 5 cm, but an orientation correction of less than 1.4° can be realized. This proposed method can be applied to provide centimeter-level positioning and navigation services for indoor mobile robots.