The above scenario you have explained is something that happens commonly but something that is resolved even more commonly.
Now as nicely explained by Harvis, the original content owner is notified of this and and what happens next is upon the content owner, he can choose to take down the content and claim the money (which he WILL get) or just take down the video.
If YouTube finds a video in which copyrighted materials are used, they take whichever action the content owner has indicated. Actions include blocking the video entirely, tracking the video, or monetizing the video.
One of the most surprising things about Content ID, for many YouTubers, is the fact that many content owners, rather than blocking videos using their video or audio, opt to make money off of these videos. Ad revenue on videos that use copyrighted content is split between the content owner and YouTube and accounts for more than one third of ad views on YouTube. Content owners used to jump quickly to block copyright material, but these days they are more inclined to make money off of the “free advertising” from parodies, tributes and fan videos.
TL

R
The money earned will go to the respective owner and not the uploader.
So don't bother yourself by trying to upload copyrighted content