Three-dimensional (3-D) objects recognition and localization is of major importance in a wide range of applications. A number of implementations concerning the complex 3D object recognition and localization have been achieved using some heuristic approaches. However, theoretical considerations concerning the construction of invariant (or quasi invariant) relations between the types of ojbect (identifying those objects) and the position in 3D space of those objects is still a problem. That is why, a marker based method for recognition and localization of 3D objects from their 2D image is suggested in this paper. Theorems relative to the features and conditions of such markers are proposed and demonstrated. Examples are given and discussed.