Hierarchical multi-organ statistical atlases are constructed with the aim of achieving fully automated segmentation of the liver and related organs from computed tomography images. Constraints on inter-relations among organs are embedded in hierarchical organization of probabilistic atlases (PAs) and statistical shape models (SSMs). Hierarchical PAs are constructed based on the hierarchical nature of inter-organ relationships. Multi-organ SSMs (MO-SSMs) are combined with previously proposed single-organ multi-level SSMs (ML-SSMs). A hierarchical segmentation procedure is then formulated using the constructed hierarchical atlases. The basic approach consists of hierarchical recursive processes of initial region extraction using PAs and subsequent refinement using ML/MO-SSMs. The experimental results show that segmentation accuracy of the liver was improved by incorporating constraints on inter-organ relationships.