An optical indoor positioning system using an optical receiver and camera is proposed. Compared with previous works in this field, our system improved the coverage without sacrificing accuracy. Thus, the proposed indoor positioning system is more suitable under environments with dense obstacles, such as warehouses, hospitals, and factories. Since the camera is deployed at the receiver side, the angle of arrival (AoA) can be estimated by recognizing the light source in an image. The optical receiver is able to measure received signal strength (RSS). Combining the information in AoA and RSS, the relative position of the receiver to the light source can be estimated. In this system, the position of the light source can be sent to the receiver applying visible light communication. Thus, both communication and positioning can be enabled using a single light-emitting diode on the transmitter side.