This research proposes a generalized local feature structure named "LSG(Local Surface Group) for model-based 3D object recognition". An LSG consists of a surface and its immediately adjacent surface that are simultaneously visible for a given viewpoint. That is, LSG is not a simple feature but a viewpoint-dependent feature structure that contains several attributes such as surface type. color, area, radius, and simultaneously adjacent surface. In addition, we have developed a new method based on Bayesian theory that computes a measure of how distinct an LSG is compared to other LSGs for the purpose of object recognition. We have experimented the proposed methods on an object databaed composed of twenty 3d object. The experimental results show that LSG and the Bayesian computing method can be successfully employed to achieve rapid 3D object recognition.