Indoor navigation app

Hey there, I know there are apps like goodmaps, but is there an app that will let you navigate indoor spaces without a map? Example: I walk into a building, and I'm looking for the office area, bathroom, elevator, etc. As I walk, it would be nice if the camera, via ai, detects signs, doors, etc and tells me what's around. Or I could look around with my camera and scan a room, then pick from available options based on what it saw. I select one, like office or elevator, and it guides me to that otarget.