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When people are absolutely sure the owner of an object would not mind their using it without permission, they may do so. However, there are those who are inflexible and do not permit this unless the person wants to use the item for a mitzva purpose. This is because when an object is used for a mitzva, its owner gets some credit. We can assume this is something to which the owner would happily agree.
If people are at risk of dying of hunger (God forbid), they may steal to stay alive. This is on condition they plan to reimburse the person they stole from as soon as possible. Similarly, a person may make use of someone else’s property without permission to avoid suffering a sudden large loss, even if this will damage the property. This too is on condition they compensate for the damage immediately.
