It's very simple, the PS3 is more powerful hence why PS3 exclusives look better
It is however difficult to get the best out of the console because of its design, hence multiplatform development is not as easy with the PS3 which means that lazy developers produced games that looked worse.
Sony doesn't use the same engine for every game, but the ICE development team (kind of part of Naughty Dog, in the same building at least) does help out with PS3 development and they do share certain things







