Here is a side by side comparison of my Lumia 1020 and Canon s95. Most shots were taken in auto mode using physical camera button on 1020, however a couple of pics have fixed ISOs (same for both s95 / 1020) or I chose the focal point, but most are completely on auto.
In bright daylight shots s95 has a habit of over exposing and resulting in colours that are a little washed out whereas the 1020 does the opposite and can under expose or over saturate. The truth is generally somewhere in the middle of the two for bright daylight and wish the shots were closer to that, but If I had to pick between the two I would say I prefer the 1020 shots in dayight. For low light shots the bigger sensor of the 1020 wins out over the s95 which was considered top of the range for pocket cameras a few years ago in low light! I'll upload more low light shots from the 1020 but I don't have s95 counterparts hence why they aren't in this album.
Tip for viewing the album. Make sure it is ordered by Name (option at top right). I named the files nicely to state which camera it was but it seems filenames aren't very prominent when viewing skydrive albums. Anyway, when viewed by name first two pics in each location are 1020 shots (5 megapixel then full res) and third pic is s95
https://skydrive.live.com/?cid=0dfabb051919d47c#cid=0DFABB051919D47C&id=DFABB051919D47C!2324