Also, WHF (and others) say it's better than the entry-level players!
I've not done any direct comparisons between the 51FD and my PS3 (partly because of the long load times on the Pioneer!), and wasn't sure at first how much better the 51FD is.
However, I recently rented I Am Legend on DVD by mistake (I thought I'd selected the Blu-ray), and the upscaled picture quality was amazing - I had to double-check to make sure it was a DVD. It looked so good in some scenes that I'm not sure how the BD could better it. I'd rent the BD as well, but I couldn't watch that film twice!