word-forming element meaning "not, opposite of, without" (also im-, il-, ir- by assimilation of -n- with following consonant, a tendency which began in later Latin), from Latin in- "not," cognate with Greek an-, Old English un-, all from PIE root *ne- "not."
In Old French and Middle English often en-, but most of these forms have not survived in Modern English, and the few that do (enemy, for instance) no longer are felt as negative. The rule of thumb in English has been to use in- with obviously Latin elements, un- with native or nativized ones.
late 14c., percepcioun, "understanding, a taking cognizance," from Latin perceptionem (nominative perceptio) "perception, apprehension, a taking," noun of action from past-participle stem of percipere "to perceive" (see perceive). Also used in Middle English in the more literal sense of the Latin word. The meaning "intuitive or direct recognition of some innate quality" is from 1827.
<a href="https://www.etymonline.com/word/imperception">Etymology of imperception by etymonline</a>
Harper, D. (n.d.). Etymology of imperception. Online Etymology Dictionary. Retrieved $(datetime), from https://www.etymonline.com/word/imperception