@StephaneP built a 4 camera custom rig that creates images towards what you want I think, I saw an image of his here:
http://mapillary.trydiscourse.com/t/awesome-sequences/62/102
On his website he has a complete instruction how to build one:
In my opinion “360” is the way to go here 
I have bought a “YI360” (cheapest I found was $199 at Amazon) and am in the process of creating an “auto mucher” 
When I’ve got it “all done” and you’re interested I could try and create a tool for you?
(OS? Linux would be ideal, but I think I can get it to work on Windows also…)