Autonomus Indoor Flight, Maze Detection And Taking Photo


I want to autonomous indoor flight(gps denied) with SLAM or another option.and i want detection of maze on the ground and taking photo with raspi.
I have a quadcopter Pixhawk 2.4.8.
How can ı do this project?
what kind of equipment buying using autonmous flight?
I have raspeberry pi 3 and raspi camera v2 and wide lens.

Thanks for help