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I still have the problem with the added vertical space using your options. Its best visible after exporting as a .png and comparing the size. Maybe you know a command to combine 3D and 2D graphics, while still maintaining the vecor graphics. Show and Graphics cannot combine 3D and 2D plots. Using Inset in the 3D plot destroys the vector graphic properties of the 2D graphics.
I use Overlay to combine a 3D Graphic (e.g. ListPointPlot3D) with a 2D Graphic (e.g. ListPlot). This way I can have 3D graphics, while keeping the vectorgraphics properties of the 2D graphics in a pdf-export. Therefore I wanted to understand, why Overlay already has a vertical offset when using only a simple 2D graphic.
I think one of the problems is that mathematica rasters a 144x144 image as a 400x400 raster as default in the pdf. This could be the reason why you do not encounter this problem with you 400x400 image. An option would be nice so that the raster resolution has to be the original image resolution.