Recently, camera communication (CamCom) has emerged as a viable candidate for realizing complementary communication technology in driver assistance applications related to intelligent transportation systems (ITS). Under-sampling based CamCom links have been proposed before [1-2]. However, they impose restrictions on the minimum signal-to-noise ratio (SNR) requirement of the transmitter due to receiver sampling at fast shutter speeds. Moreover, they do not consider the variable frame rate phenomenon of the camera, which can drastically affect the bit error rate (BER) performance of the system. In this work, we propose and implement a novel modulation scheme that not only supports low-SNR transmitters but also minimizes the effect of variable frame rate on the BER of the system.