them.In this paper w e consider the problem of clustering line-segments into n e w ones. T h e clustering-hierarchy gives a n answer t o the question what original line segm e n t s are combined into larger ones. S u c h a clustering is defined as a hierarchical ordering of a set of linesegments.
Criteria o n a clustering-method are presented. T h e dioerence between edges and lanes in relation t o scaleinvariant clustering is demonstrated. Existing ap-proaches are evaluated using the presented criteria. It is shown that these approaches do n o t meet desirable criteria such as scale-invariance. A new method is described that adheres the formulated criteria. Finally a n experiment is presented that illustrates the usefulness of the n e w method.
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