Database
[{"_id":ObjectId("5c3b584fa7e1b10155e6325f"),"companyId":"5c3b5468a7e1b10155e9995b","name":"Place Test","cameras":{"0":ObjectId("5c9149e3f054d00028cc9604"),"1":ObjectId("5c9149e3f054d00028cc9605")}}]
Query
db.collection.aggregate([{$match:{$expr:{$and:[{$anyElementTrue:{$map:{input:{$objectToArray:"$cameras"},in:{$eq:["$$this.v",ObjectId("5c9149e3f054d00028cc9605")]}}}},{$eq:["$companyId","5c3b5468a7e1b10155e9995b"]}]}}}])