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This study presents a robust approach for characterization of multi-layered forests using airborne laser scanning (ALS) data. Fuel mapping or biomass estimation requires knowing the diversity and boundaries of the forest patches, as well as their spatial pattern. This includes the thickness of the main vegetation layers, but also the spatial arrangement and size of the individual plants that compose each stratum. In order to decompose the ALS point cloud into genuine 3-D segments corresponding to individual vegetation features, such as shrubs or tree crowns, we apply a statistical approach based on the mean shift algorithm. The segments are progressively assigned to a forest layer: ground vegetation, understory or overstory. Our method relies on a single biophysically meaningful parameter, the kernel bandwidth, which is related to the local forest structure. It is validated on 44 plots of a Portuguese forest …