On 10 October 1986 Waldron discovered the asteroid, 3753 Cruithne, while serving at the UK Schmidt Telescope at Siding Spring Observatory, and on 21 November 1986, also discovered asteroid 5577 Priestley. In 1995, Waldron was first exposed to Paint Shop Pro because of the Observatory's early exploration of digital photography.
Waldron's discoveries of asteroids Cruithne and Priestley occurred during his time at the UK Schmidt Telescope, which is associated with the observatory's exploration of digital photography.  His exposure to Paint Shop Pro in 1995 was a result of this early adoption of digital photography by the observatory.