We present a preliminary approach to the coordination and control of sensing for action oriented perception in the Situation Calculus. We essentially consider visual perception, although the approach can be generalized to other forms of perception. We show that perception is an inference process that uses different levels of refinement, namely, direct perception, selective sense perception and, finally, meaningful perception. We take a cautious poiunt of view to perception which means that we see it as a reasoning process that can (...) be ambiguous and mistaken. Agents can be committed to be attentive so as to make no mistakes. Wehn the theory does not entail that a mistake occurred then perception is considered veridic. Ambiguity is resolved via hypothetical reasoning; we call this non monotonic reasoning process that combines sensing, logical inference and hypotheses, meaningful perception. (shrink)