chore(perception): update perception document (#667)

* chore(perception): update perception document

Signed-off-by: scepter914 <scepter914@gmail.com>

* style(pre-commit): autofix

* delete figure

Signed-off-by: scepter914 <scepter914@gmail.com>

* fix documents

Signed-off-by: scepter914 <scepter914@gmail.com>

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Signed-off-by: scepter914 <scepter914@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: scepter914