"I heard him come home late." How would we analyze this sentence?

This is another simple, common construction that seems to me to conceal some complex grammar just beneath the surface. What, exactly, is the grammatical function of the phrase “come home,” both as a whole and in its parts? How does it relate to the rest of the sentence? Is it an elliptical infinitive?

This is not a homework question. I am not a student. This is a language question.