Abstract: A waste disposal system for contaminant detection in waste containers, includes a disposal vehicle having a waste collection room, an emptying device, adapted to receive a waste container in a receiving position and move it to an emptying position in which the contents of the waste container are emptied into the waste collection room, and a camera system, adapted to detect the contents of the waste container, and including a first camera to record at least one image of the contents of the waste container prior to emptying in a top view and a second camera for recording a sequence of images of the contents of the waste container during the emptying, and a data processing unit for analysis of images of the first camera and/or the second camera, the analysis involving classification of the images in terms of identified contents by means of a neural network.