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what part of the human senses?
if the eyes, use cameras or tiny radioshack light to frequency converters if you want to be accurate on the size of the robot.
Yes you can use a PIC. However, you will need to use something like the POB Camera, CMU2 Camera, or CMU3 Camera because a PIC is not powerful enough to do image processing. These cameras are designed to let hobbiests use vision and have a more powerful processor built into them that can handle this.
It's realy complicated and messy to build your own vision system from scratch anyways.