I finally came up with something like this:
class MapViewController: UIViewController {
    @IBOutlet weak var mapView: MKMapView!
    override func viewDidLoad() {
        super.viewDidLoad()        
        mapView.delegate = self
        draw()
    }
    func draw() {
        let region = mapView.region
        let center = region.center
        let pointsPerMeter = MKMapPointsPerMeterAtLatitude(center.latitude)
        // Real-World-Object with 24 Meters length and 4 Meters width
        let objectLength = pointsPerMeter*24
        let objectWidth = pointsPerMeter*4
        let mapSize = MKMapSize.init(width: objectLength, height: objectWidth)
        let mapPoint = MKMapPoint.init(center)
        let objectRect = MKMapRect.init(origin: mapPoint, size: mapSize)
        // clear the map
        mapView.removeOverlays(mapView.overlays)
        // create image overlay from Real-World-Object
        let objectOverlay = ImageOverlay(image: UIImage(named: "nameOfYourImageAsset")!, rect: objectRect.offsetBy(dx: -objectLength/2 , dy: -objectWidth/2))
        // add overlay to map
        mapView.addOverlay(objectOverlay)
    }
}
// found here https://stackoverflow.com/a/45989625/10878331
class ImageOverlay : NSObject, MKOverlay {
    let image:UIImage
    let boundingMapRect: MKMapRect
    let coordinate:CLLocationCoordinate2D
    init(image: UIImage, rect: MKMapRect) {
        self.image = image
        self.boundingMapRect = rect
        self.coordinate = rect.origin.coordinate
    }
}
class ImageOverlayRenderer : MKOverlayRenderer {
    override func draw(_ mapRect: MKMapRect, zoomScale: MKZoomScale, in context: CGContext) {
        guard let overlay = self.overlay as? ImageOverlay else {
            return
        }
        let rect = self.rect(for: overlay.boundingMapRect)
        UIGraphicsPushContext(context)
        overlay.image.draw(in: rect)
        UIGraphicsPopContext()
    }
}
The Code isn't beauty yet, nor is it optimal, but it kind of works I guess. I assume that you already have your user location or any point so mapView.region has a valid value.
The Code is still in progress. I will try to put a simple UIImage on top of the map which i hopefully can put into context of the map. I guess I need to set mapView.isZoomEnabled = false for ease