Long time continuous moving images are acquired using a commercially available drive-recorder
installed behind the rearview mirror from “Hadano-Nakai highway interchange” to Ueno park through
“Metropolitan Expressway”. A simulation program which extracts the white line on the road using the r-θ
histogram, was constructed for the preliminary experiment.

https://www.jstage.jst.go.jp/article/pacbfsa/29/0/29_141/_pdf