Many algorithms for visible light positioning (VLP) localization do not consider the shapes of the transmitters, which leads to the impracticality of the algorithm and the low localization accuracy. Therefore, this paper proposes a novel VLP algorithm and addresses the problems in terms of practicality and complexity by using one non-point transmitter based on a monocular. Because the shape of the transmitter is considered, the proposed algorithm is easy for practice and has wide applicability. Besides, it decreases the computation for simple geometric model and expands the coverage for there is a greater chance of receiving signals from one light than that of receiving signals from multiple lights.