Instead of passing straight through Itaewon like last time, Ryoma thought he should try and enjoy the area a bit more. Unfortunately, he discovered that besides the restaurants, cafes, and bars in the area, there actually is not much to do in the area. But, it was a decent start for the day.

A plate of salmon eggs benedict at The Flying Pan, allegedly the best brunch restaurant in Seoul. A good start to the day.

A strange indoor camping exhibit in Itaewon. As Ryoma thought this was a bit interesting, he decided to explore it. It turns out this was the entrance to a outdoor recreation shop. Props to the marketing team.

Ryoma then went to Namsangol Hannok Village, as that was where Google said he should go when he asked what he could do around Itaewon. Naturally, it was nowhere near Itaewon.

A garden by the courtyard at Namsangol Hannok Village.

One of the hannoks (traditional korean houses). This one in particular belonged to Master Carpenter Yi, who worked on the restoration of Gyeongbokgung in the late Joseon Period. Like the other hannoks, it was moved here from other parts of seoul. Unlike the other historical sites he saw so far in Seoul, these houses were furnished, and one could even reserve some time in them to partake in traditional korean culture such as tteok-making, tea ceremonies, and more.

A soju still. Obviously, this drink had been enjoyed by the Koreans for a long time.

An example of a furnished room in the hannok village.

Wanting to try some of Korea’s more exotic fare, Ryoma then headed to Noryangjin Fish Market, a market best described as an aquarium where the exhibits can be eaten. As the fish are alive (with some exceptions), the market did not smell too bad.

Noryangjin Market, Second Floor. Besides fresh sea food, this floor held a dried fish section, a salted fish section, fried seafood, and other restaurants that can prepare some of your catch. In the lower levels, some fare include skates, sharks, salmon, sea bream, and god knows what else.

Sannakji, live octopus tentacles. This dish kills six people a year.

A half-kilo of salt-grilled shrimp, an example of some of the more normal fare the market has to offer.

Of course, the fun times would not last. Ryoma spent the next day in a mad dash trying to get some cash. There was one problem, however. Ryoma’s debit card was locked which required him to call the bank to unlock it. Ryoma was also out of minutes for his phone, which required cash for him to replenish. Ryoma had no cash. This was a problem.


After wasting a week trying to instrument one of his cameras with an IMU and giving up, Ryoma was able to do so this week on the T265 Tracking Camera. With this, Ryoma is able to obtain odometry data, and his robots are fully instrumented for Visual SLAM.

The odometry topic reported from the tracking camera being tracked on RVIZ. The sensor is now capable of observing its position and velocity, making it capable of localization, the other half of SLAM.

Ryoma was also given the gazebo assets for Duckpot, the robot he will implement his algorithms on. These assets were also fully instrumented. Because Gazebo software can run on the same software as the real robot, this move cuts down on development time, as he can use the same software in the virtual environment and in real life.

Duckpod simulated in Gazebo.

Now, all he has to do is to enable 3D mapping and localization using rtabmap. While this is currently eluding him, he is getting closer to getting these algorithms to work.

Communications Workshop

This week’s workshop was dedicated to mock interviews. Here, Ryoma found the delivery of his lines more flawed, as he subjected his poor interviewer to long, rambling stories. Because of this, Dr. Moser had to cut him off. Ryoma wasn’t a very good interviewer, either.