A method for detecting and identifying structures of interest such as colonic polyps or similar structures like lung nodules in volumetric (medical) images data is provided. The method includes obtaining a heat diffusion field (HDF) by applying a heat diffusion scheme to a volume of interest that includes structures. The obtained heat diffusion field is then used for identifying a structure of interest from the structures in the volume of interest using a geometrical analysis of the heat diffusion field. The heat diffusion scheme is, at least partly, governed by non-linear diffusion parameters. The identification includes two parts: (i) the computation of a spherical symmetry parameter, and (ii) the performance of a local analysis of the volume of interest and computation of a triangulization parameter.