When Ryoma first got to Busan, he (futilely) attempted to meet up with Nathan, Busa, Elizabeth. Starting off quite a ways away from Busan’s city center in Gimhae, he tried to meet them at the Centum City, the largest department store in the world, only to be told that they were in Haeundae Beach. Naturally, Ryoma attempted to follow only to head to the exact wrong end of the beach.

A picture of Haeundae Beach from Dongbaek Island. Unfortunately, Ryoma did not pack a bathing suit despite knowing about the beaches, and therefore he could not enjoy the water. The view was nice, at least.

Right next to Haeundae Beach were stalls selling fresh seafood of all sorts, from crab, lobster, and even penis fish (obviously pictured here). Allegedly, these have a rather nice salty-sweet flavor. However, Ryoma did not eat these as he did not feel hungry. Fortunately, these are not unique to Busan. Perhaps he could enjoy them at Noryangjin Market.

Warnings against a (presumably) common crime in Haeundae Beach.

The next day, the cohort went on a tour bus first stopping at Huinnyeoul Culture Village. For some reason, Ryoma did not actually explore the village but instead walked alongside the Jeoryeong coastal trail, which he had explored so thoroughly he nearly was left behind.

Jeoryeong Coastal Trail, a beachside trail past Huinnyeoul Culture Village. For some reason, the passersby like to balance rocks here. 


The next stop the cohort was interested in was the Oryukdo Skywalk, a glass-bottomed walkway hanging over a cliff. Naturally, Ryoma then went to the nature trail to see what was there.

Nongbawi Rock near Oryukdo at the end of a nature trail, a megascale version of the rock-stacks described earlier. This was probably not artificial.

Oryukdo Skywalk. Not as bad as Lotte Tower.

Then Ryoma went to Haeundae Beach and got drunk.

On the last day, the cohort went to Haedong Yonggungsa, then Gwangalli Beach. Ryoma could only enjoy the latter for about 15 minutes, as he had to head off.

Haedong Yonggungsa.

Haedong Yonggungsa. This pagoda is dedicated to an oddly specific subject: traffic safety. One can pray there for luck in traffic. Also present were shrines for academic achievement, good relationships, and several others.


Unfortunately, Ryoma wasted the last week trying to modify his depth camera to publish IMU topics for localization. In reality, this was not necessary for SLAM in virtual environments, as the exact position of the robot is known at all times.

However, he did manage to get a mapping algorithm up and running that allows his robotic testbed to learn the environment it is in, and eventually navigate its way through autonomously.

The robotic testbed instrumented with a depth camera moving through the virtual environment. A reader of some of the earlier blogs may recall that the depth camera assigns each pixel some value of distance away from the camera itself, generating a depth cloud. Here, several depth clouds over time are being integrated to form a map of the environment. With this, the robot can identify new hallways and rooms as it passes by, allowing the robot to ‘comprehend’ the environment enough to plan paths through the environment for navigation.

Communications Workshop

As his original elevator talk was already competent, Ryoma had few things to change. He did, however, address the main complaint of last week’s elevator pitch: the ending. Originally petering off, Ryoma made sure to add a final declaration of his intentions within a company and a little show of knowledge of whatever would-be company he would apply to.