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Simultaneous localisation and mapping by using a robot is indeed a challenging and critically important problem for an accurate 3D underground mine mapping. Using 6D pose information of a robot (x, y and z coordinates and the yaw, pitch and roll angles), the robot vehicle can be tracked, which is very crucial for an accurate mine mapping. The estimation of 6D robot pose on the ground surface is easy and generally accomplished by either the Global Positioning System (GPS) or by putting some artificial visual landmarks. However, in the underground mining environment, the estimation of pose becomes difficult due to the unavailability of the GPS signal and the identification of landmarks (as surface wall of the underground mine is rough). In this paper, an attempt has been made to construct a 3D underground mine map using a prototype mine robot. For this purpose, a strategy for the underground mine robot …