A mobile earth moving machine comprising: a carrier ; at least one machine element movable relative to the carrier ; a positioning system for determining 3D position and orientation data of the earth moving machine at a work site; at least one sensing device for determining position and orientation data of the movable machine element; at least one range finder device for detecting at least one object in a field of the at least one range finder device and providing point cloud output of the at least one object; and at least one control unit configured to receive as an input data at least the 3D position and orientation data of the positioning system, the position and orientation data of the movable machine element and the point cloud of the at least one object and process the produced input data; whereby the at least one range finder device is a solid-state device without internal movable mechanical elements, whereby the at least one range finder device is without internal scanning equipment, and is provided with a limited angle of view; the at least one range finder device is arranged on a movable machine element and is configured to be moved together with the movable machine element for expanding the angle of view of the at least one range finder device ; the at least one range finder device is configured to generate the point cloud output based on time-of-flight of signals transmitted by at least one transmitting unit and reflecting signals received by at least one receiving unit comprising at least one detector ; and the at least one control unit is configured to determine 3D position and orientation of the at least one range finder device at the work site and to provide the point cloud in response to the input data. a carrier ; at least one machine element movable relative to the carrier ; a positioning system for determining 3D position and orientation data of the earth moving machine at a work site; at least one sensing device for determining position and orientation data of the movable machine element; at least one range finder device for detecting at least one object in a field of the at least one range finder device and providing point cloud output of the at least one object; and at least one control unit configured to receive as an input data at least the 3D position and orientation data of the positioning system, the position and orientation data of the movable machine element and the point cloud of the at least one object and process the produced input data; whereby receive as an input data at least the 3D position and orientation data of the positioning system, the position and orientation data of the movable machine element and the point cloud of the at least one object and process the produced input data; whereby the at least one range finder device is a solid-state device without internal movable mechanical elements, whereby the at least one range finder device is without internal scanning equipment, and is provided with a limited angle of view; the at least one range finder device is arranged on a movable machine element and is configured to be moved together with the movable machine element for expanding the angle of view of the at least one range finder device ; the at least one range finder device is configured to generate the point cloud output based on time-of-flight of signals transmitted by at least one transmitting unit and reflecting signals received by at least one receiving unit comprising at least one detector ; and the at least one control unit is configured to determine 3D position and orientation of the at least one range finder device at the work site and to provide the point cloud in response to the input data. <EOS>