Systems and method for applying roadway marking materials into a groove(s) in a roadway surface and/or forming a recessed groove(s) in a roadway surface. The systems and methods incorporate a contour sensor that provides real-time information of the marking material and/or groove. Based on the contour information, a marking material applicator can be aligned with a recessed groove in a roadway surface to ensure the marking material is applied within the confines of the groove. Alternatively, such contour information may be acquired during groove formation to ensure depth, tilt and/or bottom surface smoothness of the groove is within predetermined limits.