I don't think there is really a definition exactly, but if you ask the sub manufacturers, they will go by how many cubic feed in the room in question. Anything with high ceilings (10'+?), vaulted ceilings or partially open to another room like a kitchen, etc.. would be what I'd consider large. The larger the area that cannot be closed off, the more sub you are going to need to achieve good SPL. A medium size room would probably be in the realm of 15x20 with standard ceilings and a small room would be near bedroom size IMO - 12x15, etc...
Square rooms are actually the most difficult regardless of size because they tend to have the most room modes for bass making good bass performance a little more difficult.
My room is ~13'x23' but my ceiling is angled up to ~20', so it is fairly large.
*edit - Here are HSU's thoughts:
http://www.hsuresearch.com/faq.html#1