The core challenge in multi-view pedestrian detection (MVPD) lies in effective aggregation of visual features from different viewpoints for robust occlusion reasoning. Recent approaches have addressed this by first projecting image-view features onto a Bird's Eye View (BEV) map, where ground localization is then performed. Despite impressive performance, the perspective transformation induces severe distortion, causing spatial structure break and degrading the quality of object feature extraction. The blurred and ambiguous features hinder accurate BEV point localization, especially in densely populated regions. Moreover, the strong mutual relationship between the BEV ground point and image bounding boxes is not capitalized on. Although multi-view consistency of 2D detections can serve as a powerful constraint in BEV space, these detections are commonly treated as auxiliary signals rather than being jointly optimized with the primary task.In this work, we propose \textbf{MVDGC}, a unified framework that \emph{jointly estimates pedestrian locations on the BEV plane and 2D bounding boxes in image views}. MVDGC employs a \emph{sparse set of 3D cylindrical queries} that embraces geometric context across both BEV and image views, enforcing dual spatial constraints for precise localization. Specifically, the geometric constraints is established by modeling each pedestrian as a vertical cylinder whose center lies on the BEV plane and whose projection casts a rectangular box in the image views. These queries function as shape anchors that directly extract 2D features from the intact image-view features using camera projection, eliminating projection-induced distortions. The 3D cylindrical query enables the unification of BEV and ImV localization into a single task: 3D cylinder position and shape refinement. Code is available at: https://github.com/UARK-AICV/MVDGC

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