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Visible Light Communication (VLC) has received substantial research attention in the last decade. The vast majority of VLC focuses on the modulation of the transmitted light intensity. In this work, however, the intensity is kept constant while the polarization direction is deployed as a carrier of information. Demodulation is realized by using a differential receiver pair equipped with mutually orthogonal polarizers. An analytical expression to evaluate the Signal-to-Noise Ratio (<inline-formula><math display="inline"><semantics><mrow><mi>S</mi><mi>N</mi><mi>R</mi></mrow></semantics></math></inline-formula>) as a function of the rotation angle of the receiver is derived. It is demonstrated that the signal quality can deteriorate heavily with receiver orientation when using a single differential receiver pair. A way to overcome this drawback using two receiver pairs is described. The analytical expression is experimentally verified through measurements with two different receiver setups. This work demonstrates the potential of polarization-based modulation in the field of VLC, where receiver rotation robustness has been achieved by means of a dedicated quadrant photodiode receiver.