diff --git a/CMakeLists.txt b/CMakeLists.txt
index 30e4e67..76970c4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,6 +55,7 @@ add_message_files(
   Detection2DArray.msg
   Detection3D.msg
   Detection3DArray.msg
+  BoundingBox3D.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/msg/BoundingBox3D.msg b/msg/BoundingBox3D.msg
new file mode 100644
index 0000000..7e2c6e3
--- /dev/null
+++ b/msg/BoundingBox3D.msg
@@ -0,0 +1,5 @@
+# position and rotation of the bounding box
+geometry_msgs/Pose pose
+
+# size of the bounding box
+geometry_msgs/Vector3 size
\ No newline at end of file
diff --git a/msg/ClassifierInfo.msg b/msg/ClassifierInfo.msg
index a318aa4..e3cb469 100644
--- a/msg/ClassifierInfo.msg
+++ b/msg/ClassifierInfo.msg
@@ -15,7 +15,7 @@ string method
 
 # ROS parameter name where the metadata database is stored in XML format.
 # The exact information stored in the database is left up to the user.
-String database_param
+string database_param
 
 # locally-incremented metadata database version. This counter is incremented
 # each time the classifier responds to changes in the metadata database.
diff --git a/msg/Detection2D.msg b/msg/Detection2D.msg
index ac86cbe..37b931c 100644
--- a/msg/Detection2D.msg
+++ b/msg/Detection2D.msg
@@ -7,9 +7,10 @@
 # non-geometric results of detection.
 vision_msgs/Classification2D classification
 
-# The x/y position and (optional) rotation of the bounding box.
+# The x/y position and (optional) rotation of the bounding box center.
 geometry_msgs/Pose2D pose
 
 # (Optional) The size of the bounding box surrounding the object. The center of
 # the bounding box is the position of the detection point.
-geometry_msgs/Vector2 bbox_size
\ No newline at end of file
+float32 bbox_size_x
+float32 bbox_size_y
\ No newline at end of file
diff --git a/msg/Detection3D.msg b/msg/Detection3D.msg
index 4677759..b28dee0 100644
--- a/msg/Detection3D.msg
+++ b/msg/Detection3D.msg
@@ -12,4 +12,7 @@ vision_msgs/Classification3D classification
 # geometric center of the bounding box or the center of mass of the object.
 # Note that this pose is not stamped, but frame information can be provided by
 # setting classification.header.frame_id.
-geometry_msgs/Pose pose
\ No newline at end of file
+geometry_msgs/Pose pose
+
+# (Optional) The bounding box in 3D space that surrounds the object.
+vision_msgs/BoundingBox3D bbox
\ No newline at end of file
diff --git a/package.xml b/package.xml
index 0fc717a..4e12792 100644
--- a/package.xml
+++ b/package.xml
@@ -28,7 +28,7 @@
   <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author email="adam.d.allevato@gmail.com">Adam Allevato</author>
 
 
   <!-- The *_depend tags are used to specify dependencies -->