An Etymological Dictionary of Astronomy and Astrophysics

1. To become aware of, know, or identify by means of the senses.
   

2. To recognize, discern, envision, or understand (Dictionary.com).

Etymology (EN): M.E. perceiven, from Anglo-Fr. *perceivre,
from O.Fr. percoivre “perceive, notice, see; understand,” from L. percipere “obtain, seize entirely, take possession of,” from L. → per- “thoroughly” + capere “to take,” → concept.

Etymology (PE): Âgertidan, from â- intensive prefix + gertidan “to take, seize,” → concept.