A new perception model in the Internet of Mobile Things (IoMT) is now underway: Contextual Perception (CP), which is encouraged by the mankind autonomic neural system functioning. CP’s general goal is to understand clearly IoMT, which can be self-managed without direct mankind intervention. To address this huge challenge of the CP expects a fundamental solution of the CP notion. For this purpose, in this article, a categorical method is used to construct a robust formal foundation for the CP model in order to obtain the CP formal semantics. Furthermore, the categorical structure of CP in IoMT is formally specified in which IoMT products and co-products, finite limits and colimits in IoMT are formally modeled and argued.