In my prior post, I suggested that the role of perception was to allow an organism to make sense of the strange world where it finds itself.
We actually know something about how to do this. We have examples from history to guide us.
Perhaps the best examples are explorers. They go into unfamiliar territory, and attempt to make it more familiar, more understandable. And perhaps their most important way of doing this is by making maps.
Their map may start as little more than a blank sheet of paper. As they explore, they look for major features such as mountains and rivers. And then enter those onto the map in the appropriate relation to one another. As then add features, the map begins to take shape and the structure of the territory begins to emerge.
Later another explorer, or perhaps the original explorer, may reenter the territory. And, as they spot the major features, then can orient their location to what is shown on the map. They can now add minor features to help further flesh out what we can know about the territory that they are exploring.