FWIW, English uses very similar grammar, with observed actions in the infinitive form:
I heard¹ someone come in from the hallway.
and not in the indicative:
** I heard someone comes in from the hallway.
** I heard someone came in from the hallway.
Note that the sentences marked with ** above are technically also grammatical English, but they're examples of a different construction, essentially with an elided "that" after the verb "heard".
It's easy to tell them apart in this case because the implied meanings are different: in the first example above — just as in your French example sentence — you're saying you directly heard the noise someone made as they came in, while in the two examples marked with ** you're reporting hearsay about something someone reportedly does or did.
1) The English example works with both "hear" and "heard", i.e. both in present and past tense, but — at least to my ear — sounds more natural in the past tense. I suspect this is because English also allows a similar construction using the present participle for the perceived action, as in "I hear/heard someone coming", and in most contexts the combination of a present tense verb for the act of observation (typically implying that you're still hearing them) with an infinitive for the observed action (implying that it has concluded) sounds less natural that the other alternatives. It would be natural in a narrative that was entirely in the present tense, though, as in: "I sit down to wait. Ten minutes later, I hear someone come in from the hallway."