Bernd Pfrommer

Bernd Pfrommer

Independent Researcher


I am an independent researcher in the field of computer vision and robotics. I am particularly interested in visual-inertial odometry and event based cameras.


  • Computer Vision
  • Autonomous Systems
  • Event Based Cameras
  • Machine Learning


  • PhD in Physics, 1998

    University of California at Berkeley

  • MSc in Computer Science, 1998

    University of California at Berkeley

  • Diploma in Physics, 1993

    Universität Stuttgart



Independent Researcher

Jul 2021 – Present Hudson, Florida
Working as independent research on projects related to:

  • Event based cameras
  • Computer vision
  • Visual-inertial odometry
  • Robotics (ROS)

Postdoctoral Researcher and Visiting Scholar

University of Pennsyvlania Engineering / GRASP Laboratory

Dec 2015 – Jul 2021 Philadelphia
Worked as a researcher and developer on several projects related to:

  • Computer vision
  • Machine learning
  • Visual-inertial odometry
  • Camera calibration

Founder and Managing Partner

Black Forest Trading LLC

Jul 2002 – Jan 2012 Connecticut
Responsibilities include:

  • Researching high frequency financial trading strategies
  • Managing day-to-day trading operations
  • Writing software for fully automated electronic trading of equities and futures
  • Running a company (accounting, taxes, contract negotiations and other fun stuff)

Electronic Market Making Researcher


May 2000 – Jun 2002 Connecticut
Developed short term trading strategies and lead team of 2-4 researchers.

Senior Developer, Program Trading

Bank of America

Sep 1999 – May 2000 San Francisco
Wrote C++/Java software for a BofA’s Program Trading desk.

Member of Technical Staff III and IV

Sun Microsystems

Feb 1998 – Sep 1999 Menlo Park
Wrote C/C++ software for MPI high performance message passing library and kernel components.




Flexible SLAM with tags

UPenn Smart Aviary

Tracking birds in 3D

Frequency Cam

Imaging Periodic Signals in Real-Time


Frequency Cam: Imaging Periodic Signals in Real-Time

FrequencyCam is a software package to measure and visualize the frequency of flickering images with an event based camera.

TagSLAM: Robust SLAM with Fiducial Markers

TagSLAM provides a convenient, flexible, and robust way of performing Simultaneous Localization and Mapping (SLAM) with AprilTag fiducial markers.

Temperature-Dependent Hydrogen-Bond Geometry in Liquid Water

We have determined the hydrogen-bond geometry in liquid water from 0 to 80C by combining measurements of the proton magnetic shielding tensor with ab initio density functional calculations.

Si-O-Si bond-angle distribution in vitreous silica from first-principles 29 Si NMR analysis

The correlation between 29 Si chemical shifts and Si-O-Si bond angles in SiO2 is determined within density-functional theory for the full range of angles present in vitreous silica