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The distance estimation problem is investigated for visible light positioning (VLP) systems with red-green-blue (RGB) light emitting diodes (LEDs). The accuracy limits on distance estimation are calculated in terms of the Cramér-Rao lower bounds (CRLBs) for three different scenarios. Scenario 1 and Scenario 2 correspond to synchronous and asynchronous systems, respectively, with known channel attenuation formulas at the receiver. In Scenario 3, a synchronous systems is considered but channeldoi:10.1109/pimrc.2019.8904457 dblp:conf/pimrc/DemirelG19 fatcat:f47piesikjdzfl6zjubzmxppxm