Both are excellent receivers, but each sounds different. Go listen and see which YOU like best.
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Depending on your speaker and room needs, Denon for more neutral to analytical sounding speakers, and Pioneer for more rounded off, laid-back sounding speakers. So it depends.
Also, the Denon has the superior Audyssey MultEQ DSP circuit, which raises the sonic experiece to another level over other competing systems, all things equal. And, since most every single acoustically small domestic room needs EQ'ing of some sort, that is a deal maker for me! I'd go Denon. Good luck
I'd also consider the video processing in each. The Denon uses the SOTA Silicon Optix Realta HQV chip. That plus Audyssey would make the choice for me.
Check this review for video processing chipset details: http://hometheatermag.com/receivers/608recfeat/