This paper studies an indoor navigation guidance system for visually impaired people using Artificial Intelligence (AI) and computer vision techniques to guide users via optimal path based on quick response (QR) code markers and collision avoidance system supported by the monocular depth estimation algorithm. The proposed system utilizes a set of QR code markers, as location beacons, to generate an optimal path for the user to reach the destination. The identified QR code markers are used to correlate and compare information from the online database containing valuable information such as current location information, and the next possible locations from the current location. In addition, our system embraces a safety feature, a collision avoidance system, by utilizing the monocular depth estimation algorithm to identify obstacles in the path to the desired destination. All obtained information is provided to the user through a text-to-speech engine, where the system can direct the user to the optimal path via audio output.