  A distributed pose localization framework based on direction measurements is
proposed for a type of \textit{leader-follower} multi-agent systems in
$\mathbb{R}^3$. The novelty of the proposed localization method lies in the
elimination of the need for using distance measurements and relative
orientation measurements for the network pose localization problem. In
particular, a network localization scheme is developed based directly on the
measured direction constraints between an agent and its neighboring agents in
the network. The proposed position and orientation localization algorithms are
implemented through differential equations which simultaneously compute poses
of all followers by using locally measured directional vectors and angular
velocities, and actual pose knowledge of some leader agents, allowing some
tracking of time-varying orientations. Further, we establish an almost global
asymptotic convergence of the estimated positions and orientations of the
agents to the actual poses in the stationary case.
