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.
“The vast concourse of people who had assembled to witness the triumphant arrival of the successful travellers was of the lowest orders of mechanics and artisans, among whom great distress and a dangerous spirit of discontent with the government at that time prevailed.”