Vaisesika Sūtra 9.2.10

इन्द्रियदोषात् संस्कारदोषाच्चाऽविधा ॥१०॥

indriya-doṣāt saṁskāra-doṣāt ca avidhā ॥10॥

[इन्द्रियदोषात् (indriya-doṣāt) - due to defect of senses; संस्कारदोषात् (saṁskāra-doṣāt) - due to defect of impressions; च (ca) - and; अविधा (avidhā) - misapprehension;]

Misapprehension arises from defects in the senses and impressions.