Perception is about distinguishing, imagining physical properties (this can be disassembled or just casually appears composite due to perspective), judging and guessing at unseen properties. I figure an pool ball has a curved 3d spherical shape, because I've seen one before and felt it. At the same time I imagine that there is no "top" or differing feature anywhere on the ball, based on the appearance of what portion I can see (it looks clear and flat white? i expect the rest to be so).
Moravec's paradox, though it now seems obvious, was the opposite of the prevailing view.
It implies that if 'being in the world' (mobility, perception & grasping) are the hard tasks then this is where AI will emerge not in simulation, planning or board games.