GPS does not operate reliably in indoor. Researchers have been working on developing Indoor Positioning System (IPS) for the last two decades. We have been at the forefront of this research by developing novel solutions that can make IPS a reality. Our work on tagged or active localization focuses on using Visible Light Positioning (VLP) techniques. VLP systems can potentially leverage the existing lighting infrastructure of a building and provide localization (e.g., for asset tracking, robotic navigation) as a value-added secondary service. We have developed one of the largest and most advanced VLP system prototypes of the world. The prototype system consists of bespoke VLC luminaires and custom designed tags using single and multiple photodiodes. We have also integrated Virtual Reality (VR) technology, as an automated, accurate ground truth recording system, with our prototype which makes data collection for the training and testing machine learning easy.