A method (30, 350) for localizing, in a space containing at least one determined object (91, 101, 111, 141), an object element (93, 143, X) associated to a particular 2D representation element (X L) in a determined 2D image of the space, the method comprising: deriving a range or interval of candidate spatial positions (95, 105, 114b, 115, 135, 145, 361') for the imaged object element (93, 143, X) on the basis of predefined positional relationships (381a', 381b'), wherein the range or interval of candidate spatial positions (95, 105, 114b, 115, 135, 145) for the imaged object element is developed in a depth direction with respect to the determined 2D representation element; restricting (35, 36, 352) the range or interval of candidate spatial positions to at least one restricted range or interval of admissible candidate spatial positions (93a, 93a', 103a, 112', 137, 147, 362'), wherein restricting includes limiting the range or interval of candidate spatial positions using at least one inclusive volume (96, 86, 106, 376, 426a, 426b) surrounding at least one determined object (91, 101), wherein restricting further includes defining at least one surface approximation (92, 132, 142), so as to limit the at least one range or interval of candidate spatial positions to the at least one restricted range or interval of admissible candidate spatial positions, wherein restricting includes defining at least one surface-approximation-defined extremity (93'") of the at least one restricted range or interval of admissible candidate spatial positions, wherein the at least one surface-approximation-defined extremity is located at the intersection between the surface approximation and the range or interval of candidate spatial positions, wherein restricting includes defining at least one inclusive-volume-defined extremity (96′′′; I0, I1, I2, I3, I4, I5, 16) of the at least one restricted range or interval of admissible candidate spatial positions which is located at the intersection between the range or interval of candidate spatial position and the inclusive volume, and retrieving (37, 353), among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics. deriving a range or interval of candidate spatial positions (95, 105, 114b, 115, 135, 145, 361') for the imaged object element (93, 143, X) on the basis of predefined positional relationships (381a', 381b'), wherein the range or interval of candidate spatial positions (95, 105, 114b, 115, 135, 145) for the imaged object element is developed in a depth direction with respect to the determined 2D representation element; restricting (35, 36, 352) the range or interval of candidate spatial positions to at least one restricted range or interval of admissible candidate spatial positions (93a, 93a', 103a, 112', 137, 147, 362'), wherein restricting includes limiting the range or interval of candidate spatial positions using at least one inclusive volume (96, 86, 106, 376, 426a, 426b) surrounding at least one determined object (91, 101), wherein restricting further includes defining at least one surface approximation (92, 132, 142), so as to limit the at least one range or interval of candidate spatial positions to the at least one restricted range or interval of admissible candidate spatial positions, wherein restricting includes defining at least one surface-approximation-defined extremity (93'") of the at least one restricted range or interval of admissible candidate spatial positions, wherein the at least one surface-approximation-defined extremity is located at the intersection between the surface approximation and the range or interval of candidate spatial positions, wherein restricting includes defining at least one inclusive-volume-defined extremity (96′′′; I0, I1, I2, I3, I4, I5, 16) of the at least one restricted range or interval of admissible candidate spatial positions which is located at the intersection between the range or interval of candidate spatial position and the inclusive volume, and retrieving (37, 353), among the admissible candidate spatial positions of the restricted range or interval, a most appropriate candidate spatial position on the basis of similarity metrics.