A raspberry Pi with Hass.io should be a good starting point.
You’ll need to root your vacuum. I personally haven’t tried it but a few users have and it appears to work well Check this post.
You’ll need to upload a custom firmware on your cameras, see this github.
Should not be any slower than the Mi app, might actually be quicker as some of it will be purely local and will not require internet
I can’t speak for all devices though, make sure you check the components section to see if they are supported.