In this paper, we propose a non-line of sight (NLOS) visible light positioning (VLP) system using a binocular camera and a single light emitting diode (LED) for the realization of 3D positioning of an arbitrary posture. The proposed system overcomes the challenges of the shadowing/blocking of the line of sight (LOS) transmission paths between transmitters and receivers (Rxs) and the need for a sufficient number of LEDs that can be captured within the limited field of view of the camera-based Rx. We have developed an experimental testbed to evaluate the performance of the proposed system with results showing that the lowest average error and the root mean square error (RMSE) are 26.10 and 31.02 cm following an error compensation algorithm. In addition, a label-based enhanced VLP scheme is proposed for the first time, which has a great improvement on the system performance with the average error and RMSE values of 7.31 and 7.74 cm and a 90th percentile accuracies of < 11 cm.