Disclosed is a visible light communication system including a transmission device, including multiple light emitting units emitting light of different colors and mapping transmission data to a chromaticity point, calculating luminescence of each of the light emitting units, generating a preamble signal for channel matrix estimation, and emitting light based on the preamble signal and calculated luminescence amount. A reception device of the visible light communication system includes multiple light receiving units and estimates a channel matrix based on a corresponding optical signal when an optical signal corresponding to the preamble signal is received in each light receiving unit, compensates the optical signal corresponding to the chromaticity point for a propagation path based on the estimated channel matrix, detects a chromaticity point on the chromaticity coordinates based on a signal after the propagation path compensation, and demodulates the transmission data.