For Yolo detection you don’t need high resolution image; the image is scaled to ~400x400 or ~500x500 pixels (0.025Mpix) before detection.
Every lens has some distortion, best is to correct this using the chessboard calibration pattern: OpenCV: Camera calibration With OpenCV , so you wont need a new camera.
For uniform luminosity the best is to lock the cameras exposure time.
By the way, did you think of buying a wide angle (or fisheye) camera, so you don’t need to move the camera and stitch the images?