A technique that allows a formation-enforcing control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system is proposed in this paper. Recent research in sensor-based multi-robot control has given rise to multiple modalities of mutual relative localization systems. In particular, vision-based relative localization has reached the stage where it can be carried onboard lightweight UAVs in order to retrieve the relative positions and relative orientations of cooperating units. A separate stream of development spawned distributed formation-enforcing control which can lead individual robots into a desired formation using relative localization of their neighbors. These two fields naturally complement each other by achieving real-world flights of UAVs in formation without the need for absolute localization in the world. However, real relative localization systems are, without exception, burdened by nonnegligible sensory noise, which is typically not fully taken into account in formation-enforcing control algorithms. Such noise can lead to rapid changes in velocity, which further interferes with visual localization. Our approach provides a solution to these challenges, enabling practical deployment of FEC under realistic conditions, as we demonstrated in real-world experiments.