A method for localizing, in a space containing at least one determined object, an object element associated to a particular 2D representation element in a determined 2D image of the space, the method comprising: deriving a range or interval of candidate spatial positions for the imaged object element on the basis of predefined positional relationships; restricting the range or interval of candidate spatial positions to at least one restricted range or interval of admissible candidate spatial positions, wherein restricting includes defining at least one surface approximation, so as to limit the at least one range or interval of candidate spatial positions to a restricted range or interval of candidate spatial positions; characterised by retrieving, among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics, wherein retrieving includes retrieving, among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics, wherein retrieving comprises processing similarity metrics (c sum) for at least one candidate spatial position (d) for the particular 2D representation element ((x0,y0),X L), wherein processing involves further 2D representation elements ((x,y)) within a particular neighbourhood (N(x0,y0)) of the particular 2D representation element ((x0,y0)), wherein processing includes obtaining a candidate vector n among a plurality of vectors within a predetermined range defined from a vector n 0, to derive a candidate spatial position, associated to candidate vector n, for each of the other 2D representation elements ((x,y)), under the assumption of a planar surface of the object in the object element, wherein the candidate spatial position is used to determine the contribution of each of the 2D representation elements ((x,y)), in the neighbourhood (N(x0,y0)), to the similarity metrics (c sum), thereby obtaining a vector normal to the at least one determined object at the intersection with the range or interval of candidate spatial positions among the range or interval of admissible vectors within a maximum inclination angle relative to the vector n 0, wherein n 0 is a normal vector of the surface approximation located at the intersection between the surface approximation and the range or interval of candidate spatial positions. deriving a range or interval of candidate spatial positions for the imaged object element on the basis of predefined positional relationships; restricting the range or interval of candidate spatial positions to at least one restricted range or interval of admissible candidate spatial positions, wherein restricting includes defining at least one surface approximation, so as to limit the at least one range or interval of candidate spatial positions to a restricted range or interval of candidate spatial positions; characterised by retrieving, among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics, wherein retrieving includes retrieving, among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics, wherein retrieving comprises processing similarity metrics (c sum) for at least one candidate spatial position (d) for the particular 2D representation element ((x0,y0),X L), wherein processing involves further 2D representation elements ((x,y)) within a particular neighbourhood (N(x0,y0)) of the particular 2D representation element ((x0,y0)), wherein processing includes obtaining a candidate vector n among a plurality of vectors within a predetermined range defined from a vector n 0, to derive a candidate spatial position, associated to candidate vector n, for each of the other 2D representation elements ((x,y)), under the assumption of a planar surface of the object in the object element, wherein the candidate spatial position is used to determine the contribution of each of the 2D representation elements ((x,y)), in the neighbourhood (N(x0,y0)), to the similarity metrics (c sum), thereby obtaining a vector normal to the at least one determined object at the intersection with the range or interval of candidate spatial positions among the range or interval of admissible vectors within a maximum inclination angle relative to the vector n 0, wherein n 0 is a normal vector of the surface approximation located at the intersection between the surface approximation and the range or interval of candidate spatial positions.