diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
index 9c06db1e5ce466aaa3a1461f5274d99b26d64c91..ca80477ebbf264624dd5f722ce2dee86853e8586 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp
@@ -13,9 +13,7 @@ namespace armarx::armem::vision::occupancy_grid::client
                   const std::string& providerName,
                   const std::int64_t& timestamp)
     {
-        static std::mutex mutex;
-
-        std::lock_guard g{mutex};
+        std::lock_guard g{writeMutex};
 
         const auto result = memoryWriter().addSegment(properties().coreSegmentName, providerName);
 
diff --git a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
index df5e02ceaa5b2034e0028e7625c616924af8a2bf..7f950eab82ea37520855a07daf1560b9f30aee53 100644
--- a/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
+++ b/source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.h
@@ -55,8 +55,10 @@ namespace armarx::armem::vision::occupancy_grid::client
     protected:
         std::string propertyPrefix() const override;
         Properties defaultProperties() const override;
-    };
 
+    private:
+        std::mutex writeMutex;
+    };
 
 
 } // namespace armarx::armem::vision::occupancy_grid::client