The question of whether people's ability to perceive their environment in a contextualised or ordered way is innate (from birth) or learned from experience cannot be answered with complete clarity. Perceptual psychology splits here into several contradictory directions. Each of these directions can reference a range of evidence for its model, but none of these is able to plausibly explain all occurring visual phenomena.
There are indications for example that the spatial organisation of perception is innate: if babies or newborn animals are placed on a glass plate that is above a step, they clearly avoid the area above the lower step. In this situation, an innate visual recognition of depth and its associated danger takes precedence over information from the sense of touch which communicates a safe and flat surface.