Any realistic indoor multiple-input multiple-output (MIMO) visible light communication (VLC) system, besides providing reliable high rate transmission, should also support flicker-free, dimming capable, and uniform illumination. In this paper, we propose a multi-level multi-pulse modulation for a MIMO VLC system to provide a high data rate with flicker-free uniform illumination. A low complexity detector and a searching algorithm to design the symbol set for transmission are also discussed. Simulation results demonstrate that the proposed detector can achieve a remarkable reduction in computational complexity without any performance degradation as compared with the conventional maximum likelihood detector. Moreover, the proposed symbols design algorithm can help to reduce the symbol error rate (SER), especially in high correlation MIMO VLC channels. INDEX TERMS Visible light communication (VLC), multiple-input multiple-output (MIMO), pulse modulation, sphere detector (SD).