1. A structure discovery system, the system comprising: a communication module configured to receive 3-dimensional image data from an imaging device; a surface discovery module configured to rotate the 3-dimensional image data around an axis in 3-dimensional space of the 3-dimensional image data; a linear condensation identification module configured to identify linear condensations in the rotated 3-dimensional image data; and a structure generation module configured to generate a structure based on the linear condensations and the rotated 3-dimensional image data.