A mine vehicle comprising: a movable carrier; at least one mine work device for executing mine work tasks in a mine; at least one scanning device for scanning surroundings of the mine vehicle and producing 3D scanning data of the surroundings; a control unit configured to receive data and process the data in at least one processor; the control unit is provided with at least one point cloud matching program allowed to be executed in the processor; an initial first point cloud data is input to the control unit, the first point cloud data comprising stored reference 3D model of the mine comprising point cloud data in a mine coordinate system; at least one second point cloud data produced by the scanning device of the mine vehicle is input to the control unit, the second point cloud data comprising operational scanning data of the current position of the mine vehicle; the control unit is configured to compare the point cloud data produced by means of the scanning device with the 3D model of the mine in relation to the detected position; the control unit is configured to process the second point cloud data by extracting point cloud data of the surrounding surfaces (10a, 10b, 11) and removing point cloud data of other objects, whereby a simplified second point cloud data of the surrounding surfaces is being created; the control unit is configured to execute the point cloud matching program in order to match the simplified second point cloud data to the reference first point cloud data; the control unit is configured to determine position and direction of the mine vehicle in the mine coordinate system on the basis of the determined matching between the simplified second point cloud data and the reference first point cloud data; the control unit is provided with at least one mine work plan defining position of a mine work site in the mine coordinate system and mine work tasks to be executed at the mine work site; and the control unit is configured to connect the determined position of the mine vehicle and the position of the mine work plan for initiating the mine work task at the mine work site. a movable carrier; at least one mine work device for executing mine work tasks in a mine; at least one scanning device for scanning surroundings of the mine vehicle and producing 3D scanning data of the surroundings; a control unit configured to receive data and process the data in at least one processor; the control unit is provided with at least one point cloud matching program allowed to be executed in the processor; an initial first point cloud data is input to the control unit, the first point cloud data comprising stored reference 3D model of the mine comprising point cloud data in a mine coordinate system; at least one second point cloud data produced by the scanning device of the mine vehicle is input to the control unit, the second point cloud data comprising operational scanning data of the current position of the mine vehicle; the control unit is configured to compare the point cloud data produced by means of the scanning device with the 3D model of the mine in relation to the detected position; the control unit is configured to process the second point cloud data by extracting point cloud data of the surrounding surfaces (10a, 10b, 11) and removing point cloud data of other objects, whereby a simplified second point cloud data of the surrounding surfaces is being created; the control unit is configured to execute the point cloud matching program in order to match the simplified second point cloud data to the reference first point cloud data; the control unit is configured to determine position and direction of the mine vehicle in the mine coordinate system on the basis of the determined matching between the simplified second point cloud data and the reference first point cloud data; the control unit is provided with at least one mine work plan defining position of a mine work site in the mine coordinate system and mine work tasks to be executed at the mine work site; and the control unit is configured to connect the determined position of the mine vehicle and the position of the mine work plan for initiating the mine work task at the mine work site.