A method executed on a computer for determining a hierarchical clustering of a multidimensional dataset in a multidimensional image space comprises receiving a pyramid of multidimensional images of the multidimensional dataset in which the images of the pyramid representing a first multidimensional image of the multidimensional dataset at successively lower resolution levels; identifying data clusters at each resolution level of the pyramid by applying a set of perceptual grouping constraints; plotting a variation curve of a magnitude of data clusters identified at each resolution level of the pyramid as a function of resolution level; and generating a clustering hierarchy for the multidimensional dataset by identifying the resolution level at each salient bend in the variation curve as a level of the clustering hierarchy.