diff --git a/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py b/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py
index fc9f432..370155a 100644
--- a/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py
+++ b/src/simulations/mapping/binary_grid_map_construction/binary_grid_map_construction.py
@@ -59,3 +59,14 @@ def main():
                                [0.0, 4, -12, 20, -13],
                                20)
     vis.add_object(course)
+
+    # create obstacle instances
+    obst_list = ObstacleList()
+    obst_list.add_obstacle(Obstacle(State(x_m=10.0, y_m=15.0), length_m=10, width_m=8))
+    obst_list.add_obstacle(Obstacle(State(x_m=40.0, y_m=0.0), length_m=2, width_m=10))
+    obst_list.add_obstacle(Obstacle(State(x_m=10.0, y_m=-10.0, yaw_rad=np.rad2deg(45)), length_m=5, width_m=5))
+    obst_list.add_obstacle(Obstacle(State(x_m=30.0, y_m=15.0, yaw_rad=np.rad2deg(10)), length_m=5, width_m=2))
+    obst_list.add_obstacle(Obstacle(State(x_m=50.0, y_m=15.0, yaw_rad=np.rad2deg(15)), length_m=5, width_m=2))
+    obst_list.add_obstacle(Obstacle(State(x_m=25.0, y_m=0.0), length_m=2, width_m=2))
+    obst_list.add_obstacle(Obstacle(State(x_m=35.0, y_m=-15.0), length_m=7, width_m=2))
+    vis.add_object(obst_list)