When it comes to pronunciation, 'ㅂ' and 'ㅍ' is pronounced at same tongue position and fully closed lips. As you hear, the biggest difference is, when you pronounce 'ㅂ', the pop sound and the voice come out at once. But 'ㅍ', the pop sound comes first and the voice follows slightly right after. So the pop sound of 'ㅍ' is more accenturated.
It's common that Americans hear 'p' when Koreans make 'ㅂ' sound. It seems that, at least in talking, 'b' and 'ㅂ' are not as identical a sound as we think they are. Our ears are just trained for our respective sound systems. Korean and English are that different.
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