Form
Verb of Perception + Object + Base Verb (V1).
I saw him cross the street.
We heard the baby cry.
Meanings
What are Verbs of Perception?
These are verbs related to our senses: see, watch, hear, listen to, feel, smell, notice. When they are followed by an object and another verb, we use a special structure.
The structure is always: Verb of Perception + Object + Action Verb
The form of the action verb changes the meaning.