You don't need any sort of permission or agreement to just take a picture - especially from a public place. The only time a release will actually be needed is if there is some sort of dispute and you need to prove that you have permission to use the image in a particular way.
There is no legal requirement as such.
However, some stock agencies/image libraries will cover themselves by insisting upon a model release for any recognisable person in an image.
Some UK relevant guidance here:
http://www.sirimo.co.uk/wp-content/u...srights-v2.pdf
http://www.urban75.org/photos/photog...-shooting.html
Steve.
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