"Péter is hearing students outside."
Translation:Péter kint diákokat hall.
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I beg to disagree. The students are most probably outside but Péter can be either inside or outside. It is ambiguous, at least to me. But if we say "kintről", then yes, Péter is definitely inside. And we can say "odakint" in which case he is most probably also outside.
"Péter hallotta kint a diákokat", "Péter hallja kint a szirénát", etc. Péter could very well be sitting in his room.