Is khulʿ permissible without a judge or similar authority?

Imām Ibn al-Jawzī (d. 597/1201) summarized the scholars' opinions in his book "Zād al-Masīr" as follows:

1. It is permissible without a judge. [Majority, including ʿUmar, ʿUthmān, ʿAlī, Ibn ʿUmar, Ṭāwūs, Shurayḥ, and al-Zuhrī]
2. It is not permissible without a judge. [al-Ḥasan, Ibn Sīrīn, Qatādah]