Verbs of perception- feel, hear, notice, observe, see, smell, watch- may be followed by gerunds, however, never infinitives. They may also be followed by the base form of the verb (bare infinitive without the infinitive marker "to").
I saw him dancing. -- I saw him while he was dancing.
I saw him dance. -- I saw the the entire course of dancing.
In my opinion, the rest of the labove listed verbs of perception do not affect the meaning upon the speaker's choice of gerund or inf.