I have been reading about Kant's theory of cognition in this article https://www.iep.utm.edu/kantmind/#SH2d. This is an extract that I have been trying to understand :
"The genus is representation (representatio) in general. Under it stand representations with consciousness (perceptio). A perception [Wahrnehmung], that relates solely to a subject as a modification of its state, is sensation (sensatio). An objective perception is cognition (cognitio). This is either intuition or concept (intuitus vel conceptus). The first relates immediately to the object and is singular; the second is mediate, conveyed by a mark, which can be common to many things. A concept is either an empirical or a pure concept, and the pure concept, insofar as it has its origin solely in the understanding (not in a pure image of sensibility), is called notio. A concept made up of notions, which goes beyond the possibility of experience, is an idea or a concept of reason. (A320/B376–7)."
I do not understand how sensation (which is subjective) related to empirical intuition and concept (which come under cognition and which in turn is objective). I came to know of this relation from this diagram.