I'm not sure what your book has in mind. What my ear tells me, is that the infinitive resembles simple tense (past or present), and the present participle resembles the continuous tense (past or present). I heard him go.
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ewelinkait is just mentioned that there is a difference when we use simple verb and -ing after verbs of perception.With the simple verb you are just viewing a photo; with the -ing form you a viewing a film.