Under the assumption of known intrinsic parameters, a novel monocular measurement method consisting of three stages is proposed for point target with parabolic motion. The gravity direction vanishing point is gained by computing the intersection of lines obtained by projecting the hanging lines in the image plane. The conic obtained by projecting the parabolic trajectories is computed using Sampson approximation and the rotation matrix could be evaluated by using parabolic projective geometry properties. By computing the translation vector from world coordinate to camera coordinate using ground planar homography, the parabolic supporting planar homography is established and the three-dimensional (3D) coordinate of point target is determined. Experiments with simulated data as well as with real images show that the method is valid and feasible. The experimental results indicate that the proposed novel approaches are practical and simple.