本篇文章主要在討論如何計算三度空間幾何元件間的結構，有關的數學公式和計算程序均詳列其中。這裡所考慮的元件種類包括點、線及多邊形。由於這些元件在偵測時較諸其他高階元件來得容易且可靠，因此常在物體辨認的應用上，被採用為主要的特徵元件。這些元件結合它們之間的結構關係，描述了物體重要的幾何形狀。因此是一種辨認物體的主要資訊來源。 我們考慮兩種結構關係；一為距離結構，另一為角度結構。每一種結構可因不如幾何元件的組合而再細分。例如距離結構可再細分成六種，而角度結構可再細分成三種。每一結構種類的數學運動公式均詳述於文中。有關它們可能的應用領域及研究範圍的延伸，亦於文中有所討論。

　　　　　Mathematical formulations and procedures for computing structural constraints between 3D geometrical entities are presented. Geometrical entities concerned in this paper include point, line segment, and polygon, which are easy and reliable to be detected from sensory data and are preferable to be selected as features for object recognition. Structural constraints describing relationships among geometrical entities provide shape information of objects by which objects can be discriminated. Two kinds of structural constraints are considered: distance constraints and angle constraints. Each kind of constraints is further classified, in terms of the combination of entity types, into finer groups. There are six groups of distance constraint and three groups of angle constraint. Their mathematical formulations are collected and experienced. Areas of application and extension are outlined as well.