A mine control system comprising: at least one mine control unit (MCU) comprising connection means for being in operational communication via data communication means to several mine vehicles in an underground mine provided with on-board monitoring means; and at least one display device; wherein the mine control unit is provided with a mine plan comprising a 3D model of the underground mine comprising point cloud data in mine coordinate system; the mine control unit is configured to receive point cloud data from at least one mine vehicle , wherein the mine vehicle is provided with at least one scanning device (S) for scanning its surroundings in the mine for producing point cloud data , and the mine vehicle further comprises means for determining its position in the mine coordinate system using point cloud matching, whereby the produced point cloud data is connected to the determined position of the scanning device in the mine coordinate system; the mine control unit is configured to compare the point cloud data received from the at least one mine vehicle with the mine plan for determining the current state of the mine relative to the mine plan, whereby the mine control unit is configured to detect in the received point cloud data new or changed surrounding point cloud objects allowing newly created or changed walls to be detected and recorded; the mine control unit is configured to incorporate the new point cloud data to the point cloud data of the 3D model of the mine, whereby the mine control unit is configured to update the 3D model of the mine on the basis of the received point cloud data; and the mine control unit is configured to receive position data from the mine vehicles and is configured to visualize the mine and the positions of the mine vehicles in the mine on the at least one display device, thereby providing updated fleet management data. at least one mine control unit (MCU) comprising connection means for being in operational communication via data communication means to several mine vehicles in an underground mine provided with on-board monitoring means; and at least one display device; wherein the mine control unit is provided with a mine plan comprising a 3D model of the underground mine comprising point cloud data in mine coordinate system; the mine control unit is configured to receive point cloud data from at least one mine vehicle , wherein the mine vehicle is provided with at least one scanning device (S) for scanning its surroundings in the mine for producing point cloud data , and the mine vehicle further comprises means for determining its position in the mine coordinate system using point cloud matching, whereby the produced point cloud data is connected to the determined position of the scanning device in the mine coordinate system; the mine control unit is configured to compare the point cloud data received from the at least one mine vehicle with the mine plan for determining the current state of the mine relative to the mine plan, whereby the mine control unit is configured to detect in the received point cloud data new or changed surrounding point cloud objects allowing newly created or changed walls to be detected and recorded; the mine control unit is configured to incorporate the new point cloud data to the point cloud data of the 3D model of the mine, whereby the mine control unit is configured to update the 3D model of the mine on the basis of the received point cloud data; and the mine control unit is configured to receive position data from the mine vehicles and is configured to visualize the mine and the positions of the mine vehicles in the mine on the at least one display device, thereby providing updated fleet management data. <EOS>