A computer-implemented method for analyzing refuse includes operations of receiving sensor data indicating an operational state of a vehicle body component of a refuse collection vehicle (RCV); analyzing the sensor data to detect a presence of a triggering condition based at least partly on a particular operational state of the vehicle body component, as indicated by the sensor data; in response to detecting the triggering condition, accessing image data indicating a physical state of refuse collected by the RCV; providing the image data as input to at least one contaminant detection model trained, using at least one machine learning (ML) algorithm, to output a classification of the image data, the classification indicating a degree of contamination of the refuse; and storing, in a machine-readable medium, the classification of the image data.
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