diff --git a/turtlelib/CMakeLists.txt b/turtlelib/CMakeLists.txt
index f862230..cff593a 100644
--- a/turtlelib/CMakeLists.txt
+++ b/turtlelib/CMakeLists.txt
@@ -22,8 +22,9 @@ if(BUILD_TESTING)
     find_package(Catch2 3 REQUIRED)
 
     # A test is just an executable that is linked against the unit testing library
-    add_executable(turtlelib_test tests/test_geometry2d.cpp tests/test_se2d.cpp tests/test_svg.cpp tests/test_diff_drive.cpp)
-    target_link_libraries(turtlelib_test Catch2::Catch2WithMain turtlelib)
+    add_executable(turtlelib_test tests/test_geometry2d.cpp tests/test_se2d.cpp tests/test_svg.cpp tests/test_diff_drive.cpp tests/circle_tests.cpp)
+    target_link_libraries(turtlelib_test Catch2::Catch2WithMain turtlelib ${ARMADILLO_LIBRARIES})
+    include_directories(turtlelib_test ${ARMADILLO_INCLUDE_DIRS})
 
     # register the test with CTest, telling it what executable to run
     add_test(NAME turtlelib_test COMMAND turtlelib_test)
diff --git a/turtlelib/tests/circle_tests.cpp b/turtlelib/tests/circle_tests.cpp
new file mode 100644
index 0000000..d420c8f
--- /dev/null
+++ b/turtlelib/tests/circle_tests.cpp
@@ -0,0 +1,36 @@
+#include <catch2/catch_test_macros.hpp>
+#include <catch2/matchers/catch_matchers_floating_point.hpp>
+#include "turtlelib/landmark_detection.hpp"
+#include <armadillo>
+
+namespace turtlelib {
+    
+    TEST_CASE("Circle fitting - test 1", "[landmark]") {
+        arma::mat points = {{1,7},{2,6},{5,8},{7,7},{9,5},{3,7}};
+
+        double c_x;
+      double c_y;
+      double r;
+      std::tie(c_x, c_y, r) = fitCircle(points);
+
+
+        REQUIRE_THAT(c_x, Catch::Matchers::WithinAbs(4.615482, 1.0E-4));
+        REQUIRE_THAT(c_y, Catch::Matchers::WithinAbs(2.807354, 1.0E-4));
+        REQUIRE_THAT(r, Catch::Matchers::WithinAbs(4.8275, 1.0E-4));
+    }
+
+    TEST_CASE("Circle fitting - test 2", "[landmark]") {
+        arma::mat points = {{-1,0},{-0.3,-0.06},{0.3,0.1},{1,0}};
+
+        double c_x;
+      double c_y;
+      double r;
+      std::tie(c_x, c_y, r) = fitCircle(points);
+
+
+        REQUIRE_THAT(c_x, Catch::Matchers::WithinAbs(0.4908357, 1.0E-4));
+        REQUIRE_THAT(c_y, Catch::Matchers::WithinAbs(-22.15212, 1.0E-4));
+        REQUIRE_THAT(r, Catch::Matchers::WithinAbs(22.17979, 1.0E-4));
+    }
+
+}
\ No newline at end of file