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A localization method of projected objects in 3D work space is proposed in this paper, which uses a calibrated surveillance camera. The method determines a minimum bounding cylinder or box for a projected object in input image by using the intuition that lower boundary of the object lies on the ground. A base circle or rectangle corresponding to the bottom of the bounding solid is first estimated on the ground and then its size and height of the bounding solid are determined enough to enclose the 3D object corresponding to the projected object. This method can be applied to any free-shaped objects except humans. A particular method for projected human is also proposed, which estimates a base circle differently since the intuition may not be correct. The minimum bounding solid for a projected object is useful for determining its location in 3D surveillance space and estimating its volume roughly. Usefulness of the proposed methods is presented with experimental results on real moving objects.