Government and industry research labs are still around and do lots of research. Companies with R&D departments also do "R" as well as "D" though it is typically more applied and product-focused.
However, I've also seen independent researchers (Smith Research, Doe Consulting) and undergraduates publish and present work at technical conferences and workshops. There is usually no requirement for an academic or large company affiliation, or a graduate degree.
What is required, as you indicate, is a carefully written academic paper that presents a clearly identified (and "novel") contribution to the field, clear explanation with convincing evaluation, and adequate review of, comparison with, and citation of prior work, in the preferred writing and publication style.
If you're not used to this kind of writing, you might want to see if you can get help from someone who is.