diff --git a/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md b/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md
index cbb70c254..4b42b3769 100644
--- a/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md
+++ b/docs/Components/Sensors/LiDARSensor/LiDARSensor/index.md
@@ -264,3 +264,9 @@ To enable saving dictionary mapping set output file path to the `Semantic Catego
 
 The dictionary mapping file will be saved at the end of the simulation.
 
+### LiDAR output restriction
+Describes LiDAR faults modeled as a set of rectangular masks obstructing part of the rays.
+
+Example set of parameters for output restriction resulting in one rectangular mask obstructing rays:
+
+<img src="output_restriction_example.png" width="400">
diff --git a/docs/Components/Sensors/LiDARSensor/LiDARSensor/output_restriction_example.png b/docs/Components/Sensors/LiDARSensor/LiDARSensor/output_restriction_example.png
new file mode 100644
index 000000000..880fcacd2
Binary files /dev/null and b/docs/Components/Sensors/LiDARSensor/LiDARSensor/output_restriction_example.png differ