diff --git a/crates/ransac/Cargo.toml b/crates/ransac/Cargo.toml
index e5319b355d..84b3c51073 100644
--- a/crates/ransac/Cargo.toml
+++ b/crates/ransac/Cargo.toml
@@ -14,3 +14,12 @@ nalgebra = { workspace = true }
 ordered-float = { workspace = true }
 rand = { workspace = true }
 rand_chacha = { workspace = true }
+
+[dev-dependencies]
+divan = { workspace = true }
+pprof = { workspace = true }
+
+
+[[bench]]
+name = "bench"
+harness = false
diff --git a/crates/ransac/benches/.gitignore b/crates/ransac/benches/.gitignore
new file mode 100644
index 0000000000..9b1960e711
--- /dev/null
+++ b/crates/ransac/benches/.gitignore
@@ -0,0 +1 @@
+output/
\ No newline at end of file
diff --git a/crates/ransac/benches/bench.rs b/crates/ransac/benches/bench.rs
new file mode 100644
index 0000000000..4e63d1ba83
--- /dev/null
+++ b/crates/ransac/benches/bench.rs
@@ -0,0 +1,81 @@
+use std::{env, fs::File};
+
+use divan::{bench, black_box, AllocProfiler, Bencher};
+use linear_algebra::{point, Point2};
+use pprof::{ProfilerGuard, ProfilerGuardBuilder};
+use rand::SeedableRng;
+use rand_chacha::ChaChaRng;
+use ransac::circles::{circle::RansacCircle, test_utilities::generate_circle};
+
+#[global_allocator]
+static ALLOC: AllocProfiler = AllocProfiler::system();
+
+fn main() {
+    divan::main();
+}
+
+fn get_profiler_guard() -> Option<ProfilerGuard<'static>> {
+    if env::var("ENABLE_FLAMEGRAPH").is_ok_and(|v| v == "1") {
+        ProfilerGuardBuilder::default()
+            .frequency(1000)
+            .blocklist(&["pthread", "vdso"])
+            .build()
+            .ok()
+    } else {
+        None
+    }
+}
+
+fn get_flamegraph(file_name: &str, guard: Option<ProfilerGuard<'static>>) {
+    if let Some(report) = guard.map(|guard| guard.report().build().ok()).flatten() {
+        let file = File::create(format!(
+            "{}/benches/output/{}.svg",
+            env!("CARGO_MANIFEST_DIR"),
+            file_name
+        ))
+        .unwrap();
+        report.flamegraph(file).unwrap();
+    };
+}
+
+const TYPICAL_RADIUS: f32 = 0.75;
+const GENERATION_VARIATION: f32 = 0.08;
+const ACCEPTED_RADIUS_VARIANCE: f32 = 0.1;
+const REL_ASSERT_EPSILON: f32 = 1e-5;
+const HIGH_POINT_COUNT: usize = 2000;
+const HIGH_ITERATIONS: usize = 1500;
+const RANDOM_SEED: u64 = 666;
+
+struct SomeFrame {}
+
+#[bench(min_time = 30)]
+fn noisy_circle(bencher: Bencher) {
+    let center = point![2.0, 1.5];
+    let radius = TYPICAL_RADIUS;
+    let points: Vec<Point2<SomeFrame>> = generate_circle(
+        &center,
+        HIGH_POINT_COUNT,
+        radius,
+        GENERATION_VARIATION,
+        RANDOM_SEED,
+    );
+    let mut rng = ChaChaRng::seed_from_u64(RANDOM_SEED);
+
+    let gen = bencher.with_inputs(|| {
+        let ransac = RansacCircle::<SomeFrame>::new(
+            TYPICAL_RADIUS,
+            ACCEPTED_RADIUS_VARIANCE,
+            black_box(points.clone()),
+        );
+        ransac
+    });
+    let guard = get_profiler_guard();
+    gen.bench_local_values(move |mut ransac| {
+        black_box(
+            ransac
+                .next_candidate(black_box(&mut rng), black_box(HIGH_ITERATIONS))
+                .expect("No circle was found"),
+        );
+    });
+    get_flamegraph("ransac_noisy_circle", guard);
+}
diff --git a/crates/ransac/src/circles/mod.rs b/crates/ransac/src/circles/mod.rs
index bc300cfe30..889684f21a 100644
--- a/crates/ransac/src/circles/mod.rs
+++ b/crates/ransac/src/circles/mod.rs
@@ -1,2 +1,2 @@
 pub mod circle;
-mod test_utilities;
+pub mod test_utilities;
diff --git a/crates/ransac/src/circles/test_utilities.rs b/crates/ransac/src/circles/test_utilities.rs
index 16e54dba28..4f51378b9c 100644
--- a/crates/ransac/src/circles/test_utilities.rs
+++ b/crates/ransac/src/circles/test_utilities.rs
@@ -9,7 +9,7 @@ use rand::{
 use linear_algebra::{point, Point2};
 
 #[allow(dead_code)]
-pub(crate) fn generate_circle<Frame, T>(
+pub fn generate_circle<Frame, T>(
     circle_center: &Point2<Frame, T>,
     point_count: usize,
     circle_radius: T,
diff --git a/webots/worlds/penalized_extern.wbt b/webots/worlds/penalized_extern.wbt
index 41bc5817c5..c1068e8c4c 100644
--- a/webots/worlds/penalized_extern.wbt
+++ b/webots/worlds/penalized_extern.wbt
@@ -1,8 +1,7 @@
-#VRML_SIM R2022b utf8
+#VRML_SIM R2023b utf8
 
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackground.proto"
 EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto"
-EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2022b/projects/objects/balls/protos/Ball.proto"
 EXTERNPROTO "../protos/Field.proto"
 EXTERNPROTO "../protos/SPLBall.proto"
 EXTERNPROTO "../protos/NAO.proto"
@@ -34,8 +33,8 @@ SPLBall {
   translation -2.5 -1 0.05
 }
 NAO {
-  translation -3.2 -3 0.333369
-  rotation 0 0 1 1.57079632679
+  translation -2 -2 0.333369
+  rotation 0 0 1 0.8
   name "webots2"
   controller "<extern>"
   supervisor TRUE