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Existing Visible Light Communication (VLC) methods can recover each LED's on-off status only after its projection location is identified on each image. Identifying the LED projection is challenging because: 1) Clutter and noise corrupt the measurements; 2) The LED status will be “off” in some frames; 3) The predicted projection location sequence depends on the estimated vehicle state trajectory, which is uncertain. This article presents a new method determining the qmost probable data and LED position sequences simultaneously, using Bayesian multiple hypothesis tracking (MHT) techniques by maximizing posterior probabilities. This article focuses on the VLC data and LED position sequence extraction, that includes vehicle state estimation. The MHT based algorithm is demonstrated by the simulation results.