I'm going to stand in someone's yard
Why do you feel the need to stand there?
I just want to have a look at the yard
The person who owns that yard might find it strange and even suspicious.  They may even call the police on you.
I'm going to put a camera in their yard, wait for them to come make a deal.
Don't do that, trespassing can be very dangerous depending on how the property owner reacts. People might think you are trying to scout out their home to break in and steal things later, and you could get into trouble for that.