The thesis discusses the use of Intrinsic Object Centred Frames of Reference in defining and categorising the location, direction, and/or region of one object (the Figure) in the space surrounding another object (the Referent). It is considered how it is possible to define an intrinsic location (e.g., for use in memory) and to describe the location by means of a Directional Preposition (i.e., above, below, in front of, behind, to the left of, and to the right of) within such Frames of Reference. To this end, the research integrates and builds upon investigations on intrinsic descriptions of objects, object recognition, spatial language, spatial memory, and the connection between spatial language and spatial memory. The thesis specifies how a Referent is assigned an intrinsic description in terms of top-bottom, front-back and left-right distinctions and how such a description can be used to define as well as describe the location of a Figure. To this end, it is discussed how the spatial structure of an object may hinder or facilitate its use as a Referent. Likewise, the information associated with the object category that influences the definition and labelling of dimensions and directions is considered. The processing required to produce a Directional Preposition (used in an Intrinsic Object Centred Frame of Reference) from viewing an object constellation is sketched. Findings from spatial memory research are reviewed with a special focus on effects of categories on reports from memory. An experiment is presented that addresses several aspects of the developed theory by employing a spatial memory task for locations relative to a Referent whereby locations are exclusively defined in an Intrinsic Object Centred Frame of Reference. Both reaction time and the bias and accuracy of reports from memory are obtained simultaneously. This experimental procedure leads to several original findings. Reaction