Intelligent Transportation Systems (ITS) enable new services within Smart Cities. Efficient Waste Collection is considered a fundamental service for Smart Cities. Internet of Things (IoT) can be applied both in ITS and Smart cities forming an advanced platform for novel applications. Surveillance systems can be used as an assistive technology for high Quality of Service (QoS) in waste collection. Specifically, IoT components: (i) RFIDs, (ii) sensors, (iii) cameras, and (iv) actuators are incorporated into ITS and surveillance systems for efficient waste collection. In this paper we propose an advanced Decision Support System (DSS) for efficient waste collection in Smart Cities. The system incorporates a model for data sharing between truck drivers on real time in order to perform waste collection and dynamic route optimization. The system handles the case of ineffective waste collection in inaccessible areas within the Smart City. Surveillance cameras are incorporated for capturing the problematic areas and provide evidence to the authorities. The waste collection system aims to provide high quality of service to the citizens of a Smart City.