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Optical camera communication (OCC) is a promisingtechnology for camera-mounted mobile robots (MRs), where it canuse its camera to communicate with light-emitting diode (LED) infrastructures. Due to the limited angle of view of current commercial cameras used in MRs, the cameras cannot detect LED everywhere inside an area illuminated by an LED; hence, much ofthe illumination surface remains unutilized. Herein, we propose anautomatic camera inflection algorithm to successfully detect LEDanywhere inside an LED cell (the total coverage area illuminatedby LED). The inflection mechanism is a supervised learning approach. The technique utilizes the coordinate information (i.e., Xand Y coordinates) of an LED cell, which is further employed totrack the position of the LED. The coordinate data is automaticallyupdated when the MR travels from one position to another. Furthermore, we perform simulations that include a discussion on tiltangle variation with increasing distance traveled by the MR and aperformance analysis that demonstrates the importance and feasibility of the developed algorithm. Finally, a testbed prototype forOCC is implemented to demonstrate the proof of angle measurement theory and bit-error-rate performance of the proposed system.