He's talking about the map not being the territory. The information we get from our senses is not the same as the objects which we think we are sensing. I say "think we are sensing" because our minds' do not distinguish between real information coming from nerves and "imagined" information, hence dreams and trips feeling very real at times, or deleriants completely fooling our reality verification software. The best answer I can come up with based on what I know is that the "real world" is unknowable to us in terms of direct experience. The only thing that any of us have ever (unless reincarnation is real) experienced is the reality constructed in an ape's mind. Thus, the relationship is that the map of objective reality that our species has built up is a labour of deduction based on the aspects of our individual realities that appear to be universally shared, that is to say, there is no relationship between objective and subjective reality, since all reality is subjective by definition.
On the flip side...
Everything we experience is an emergent property of a physical system. We only hold one "real" point of contact, which seems to be exceedingly difficult to actually define (I suppose, in the same way that the borders of an electron are difficult to define, since it is an electrical field), from which we can sense the effects of other objects. Thus, our direct experience is in fact the very fabric of reality - it's the energy of subatomic particles dancing in unison, it's the field of energy that we call the human body. Again, there is no distinction between subjective and objective since everything is objective by definition.
Oh, and:
maybe the universe doesnt revolve [around] us and our perceptions
But the Earth sure does revolve around it's own axis, just as we revolve around our perceptions. "The universe" is a concept contained in said perceptions, thus, from the point of view of a human, the universe is a small part of perception as opposed to a container for it, and, by extension, "the universe" revolves around perception [EDIT: "the universe" IS perception].