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If you use entity translation and the node is attached to different menus, here is an adaptation of the code that filters on the current language. You need to copy this as PHP code for the contextual filter (parent menu link id) in your view like explained in the other answers

 if (function_exists('menu_node_get_links')) {
global $language;
$lang = $language->language;
$node = node_load(intval(arg(1)));
if (isset($node->menu_node_links)) {
  foreach ($node->menu_node_links as $mlid => $data) {  
    if ($lang == $data->language) {
      return($mlid);
    }
  }
}
  }