Perceive (verb)

1. To become aware of something through the senses.
2. To understand or interpret something.
3. To become conscious of something.

Origin:

From middle english perceiven, from old french perceivre, from latin percipere, from per- ("thoroughly") + capere ("to tak.e")

Examples:

1. He perceived the smell of smoke.
2. She perceived the irony in his statement.
3. I perceive a change in his attitude.