It was discovered on 7 September 1995, by Slovak astronomers Adrián Galád and Alexander Pravda at the Modra Observatory in the Bratislava Region of Slovakia.
It orbits the Sun in the inner main-belt at a distance of 1.8–2.6 AU once every 3 years and 3 months (1,200 days).
[1] The first precovery was taken at Crimea-Nauchnij in 1972, extending the asteroid's observation arc by 23 years prior to its discovery.
[7][a] According to the thermal observation carried out by the NEOWISE mission of NASA's Wide-field Infrared Survey Explorer, Petermrva measures 4.2 kilometer and has an untypically low albedo of 0.15.
The second discoverer, Alexander Pravda, is thankful for his explanation and inspiration in some fields of astronomy and computer graphics.