I think there are some misunderstandings in the replies here, like "they're both good" and "it comes down to personal preferences." Yes, any camera takes good pictures in bright light with stationary subjects. No need to bring a DSLR. Whether or not one is better than the other comes down to the image processing software, and personal preferences.
Where there can be a significant and objective difference is in low light performance, and autofocusing. Low light performance comes down to simple physics: f-number and sensor size (with a slight difference due to sensor electronics). Samsung has a larger sensor and lower f-number, and that is not something the iPhone can beat -- no tests really necessary. And it seems from reports that Samsung also has better focusing. So, yes, unfortunately (because I don't like Android), Samsung has the better camera.
So, why did Apple not put in a larger sensor? Perhaps to make room for the dual camera in the plus? Just speculating.