This is not entirely possible. Even the latest Google+ application on iOS with Instant Download is not notified when taking photos, it just checks the asset library while the application is running, and then, as much as possible, while the background is running, before the OS ends up from time to time.
See the Google+ help below:
Note. Photos and videos will be uploaded while the Google+ app is open and for a short period of time.
NTN
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