It is learned as well as instinctive.
First,our brain compares the sizes with something you know of close to you.(comparing a pencil with your hand fro example)
Second is by relative intensity. Something close will give off more light than something far away.
Third, there’s a thing called parallax,which is shift in position of object when you look with one eye closed. Objects close to you shift more than those far away. When riding a car,objects far away don’t zoom past that quickly(say a mountain or building) compared to a bystander on sidewalk.
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