Unique Binary Search Trees

Given n, how many structurally unique BST's (binary search trees) that
store values 1...n?

For example,
Given n = 3, there are a total of 5 unique BST's.

1         3     3      2      1
\       /     /      / \      \
3     2     1      1   3      2
/     /       \                 \
2     1         2                 3