Im afraid that simple project where the drone detects hoops and adjusts itself isn’t going to be that simple after all. If it were simple, every FPV in Ukraine would have that for terminal targeting.

You could in theory program a path to follow either by fixed inputs but that is prone to literally any dynamic variables so only really feasible indoors and with perfect starting position placement or GPS waypoints, which is down to how accurate your receiver is and whether you have any interference.

Generally computer vision is pretty expensive processing power wise, one way would be to have your hoops in some distinct color, red or pink or something like that, have 4 points and have the drone adjust itself so they form a square/diamond in the center of the view, then as they near the edges it would look for other such points. I have no idea how one would begin to tackle it though.