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In this paper the problem of environment geometric model making is considered. This problem is main part of global issue for mobile robots task-oriented moving in random non-stationary environments. We propose an approach to making of tree-type dynamic structures for environment description, based on two or more input video channels. Such structures allow to uniquely describe the position of the robot and surrounding objects in the relative coordinate system. Mobile robot position changes lead to the realize of tree structures dynamic properties and allow to modify local detailing level.