Latin verbs describing bodily sensing vs. intellectual sensing

Question

For each of the 5 senses, does Latin have distinct verbs for the intellectual act that follows from the bodily act of sensation?

For example:

Bodily act of sensing	Corresponding act of intellect
to look	to see
to hear	to listen

and similarly for the other 3 senses.

^{This is reminiscent of St. Augustine's De Magistro V.12, which grapples with the question of verbum ("word") vs. nomen ("noun").}