You can find the members photo topics in the Your Photos category, and the specific topic for lingerie uploads is Lingerie Photo Uploads.
You will need to be Trust Level 2 to upload images (you can find out more about that in the link @Oldman gave you above), and any images will also need to adhere to the photo rules, which you can find in The Great Big Photo Guide 
. 
There’s also lots of information in the Welcome Topic that you might find useful too.