I've heard both the Pioneer SP-BS41-LR  and the Infinity Primus P163, and the P163 are definitely better sounding to my ears than the Pioneers. They dig a little deeper into the bass and are easier to drive. The drivers in the Infinity Primus series are very good, but placed in so-so cabinets and with a so-so crossover. They really benefit from reinforcement of the cabinets, new acoustic stuffing and replacement of crossover components.

http://www.stereophile.com/content/pioneer-sp-bs41-lr-loudspeaker

http://www.stereophile.com/standloudspeakers/1007inf/