Unless you're trying to make a movie on the sly, there's no way to get around this. If you want to use public spaces, film on the streets, have the cooperation of the police, you have to have a permit.
“I think time management as a label encourages people to view each 24-hour period as a slot in which they should pack as much as possible.”
“The way to get things done is not to mind who gets the credit for doing them.”