Rock joint system makes a heavy effect on the behavior of rock structures. The definition of a 3D rock joint system is very important in 2D or 3D numerical analysis for the prediction of the behavior of a discontinuous rock mass. To enhance the reality of a 3D definition of rock joint system, it is essential to estimate the unbiased statistics of basic geometric attributes of rock joints. In this study, we have proposed the statistical analysis and derived the related equations for an estimation of statistics of joint size and intensity. Geometry of rock joints in 3 dimensional space can be defined by the aggregate of location, size, orientation and intensity. The dimensional limit of survey method and its data makes 3D geometric attributes probabilistic. In the estimation of statistics of joint size, we have discussed the technique to correct the bias from a dimensional limit and derived the equation of 3D joint intensity by stereological approaches.