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Abstract Let the computer apprehend and describe the representation of the relative position between objects of the image by the way of the common intuition of the human is an important task of the computer vision and pattern recognition. To complete this task, the position sensing parameter and histogram of position sensing forces are proposed in this paper. The position sensing parameter can represent the spatial relative position of the point with regard to the reference object, and the point is from the argument object. The histogram of position sensing forces is composed of the position sensing parameter of each point in the argument object and the gravitational forces between each point of the argument object and each point of the reference object. The histogram of position sensing forces can simulate the human perception for the directional spatial relations between the argument object and reference object of the image, considering the shape, size, angular and metric information of the spatial object.