InfrastructureDC is used to collect information from webMethods products like IS, Broker TN etc.
Web Service Data Collector (WS DataCollector) is used to collect information from non-webMethods product i.e. some other applications like siebel etc(You receive this information through web service hence web service collector 
Q : Do we just need either one of them to collect data or both of them need to be running?
A : Only one them them is fine if it fulfills your requirement.
Q : Do they depend on each other?
A : No
Q : If my InfrastructureDC is not running, will the WS Data Collector still collect data as normal?
A : Yes
HTH
#webMethods#BPM#webMethods-BPMS