diff --git a/SimoxUtility/eigen/OrientedBox.h b/SimoxUtility/eigen/OrientedBox.h
index 123630a274104f52a7618918d85e0429d38d6f83..2bc12d350e5e3c607618fa1b2f153828c6cab274 100644
--- a/SimoxUtility/eigen/OrientedBox.h
+++ b/SimoxUtility/eigen/OrientedBox.h
@@ -84,10 +84,10 @@ namespace simox
         OrientedBox& operator=(const OrientedBox&) = default;
 
         OrientedBox(
-            const vector_t& corner,
-            const vector_t& extend0,
-            const vector_t& extend1,
-            const vector_t& extend2
+            const vector_t& corner = {0, 0, 0},
+            const vector_t& extend0 = {1, 0, 0},
+            const vector_t& extend1 = {0, 1, 0},
+            const vector_t& extend2 = {0, 0, 1}
         )
         {
             const float_t len0 = extend0.norm();
diff --git a/SimoxUtility/eigen/XYConstrainedOrientedBox.h b/SimoxUtility/eigen/XYConstrainedOrientedBox.h
index b86cf017f86da8232d0a82d11aeaeb3bae5cb2ad..a44886332b38f94d13e0326c33ab2236e9f5723a 100644
--- a/SimoxUtility/eigen/XYConstrainedOrientedBox.h
+++ b/SimoxUtility/eigen/XYConstrainedOrientedBox.h
@@ -86,9 +86,9 @@ namespace simox
 
 
         XYConstrainedOrientedBox(
-            const vector_t& corner,
-            const float_t yaw,
-            const vector_t& dimensions
+            const vector_t& corner = {0, 0, 0},
+            const float_t yaw = 0,
+            const vector_t& dimensions = {0, 0, 0}
         ) :
             _t{transformation(
                Eigen::AngleAxis<float_t>{yaw, vector_t::UnitZ()}.toRotationMatrix(),