Regarding sensory verb, we can refer to following article

exerpted from internet:

Sensory Verb usually includes:
see, watch, look at, hear , listen to, feel, smell, notice.......

感官動詞之後可接
(1)原形動詞(省略to的不定詞)
(2)現在分詞
(3)過去分詞，所表達的意思各不相同
若感官動詞本身為被動式，則後面接不定詞(to+V)，to不可省略

感官V+O+V(原形動詞)：narrating a complete action or a fact.
例：I saw them climb up the mountains.(我看見他們爬山)


感官V+O+Ving(現在分詞)：describing a going on action.
例：I saw them climbing up the mountains. (我看見他們正在爬山)


感官V+O+p.p.(過去分詞)：表示被動的動作，亦即受詞接受某一動作
例：I saw him hit by a car. (我看見他被車撞到)


感官本身為被動式+ to V
例：He was seen to steal her purse in classroom.
(他〝被〞看見在教室裡偷了她的皮夾)句中的to不可省略



感官動詞中指人的感官知覺而不是刻意進行的動作〝不可用進行式〞
Example: see, hear, smell, notice

Wrong: I am seeing him going across the bridge.

Right: I see him going across the bridge.