I don't know anything about Irlicht... so let me just address Axiom.
I am a former user of Axiom, back when it was being originally developed by ... I forget his name... but anyway... before it was under the RealmForge banner.
Axiom is merely a port of Ogre from C++ to C# (and thus usable by all .NET languages). The problem with Axiom is actually two-fold, both of which make it a non-choice for me.
1) It's open source. Now, nothing against open source projects, but the very nature of the project means you end up relying on other developers to continue its development... not to mention the various add-ons that other developers create. If you are developing a commercial game/app, you really have to ask yourself: "Do I want to rely on people who are in no way obligated to me?"
2) It's now controlled by the RealmForge crew. I simply can't express how much that makes Axiom a non-choice for me. If you look deep in to RealmForge, you will find a project team with high hopes, low skills, horrible code, and FAR too many projects "in development". These people simply should not be taken seriously. They want to do FAR too much, and do it all at once. Their fatal flaw is "feature creep" for their RealmForge project in general... taking on projects that have only a slight connection to their original intent... many of which were embarked on simply because "it seemed cool at the time".
That's my impression of them at least. I've talked with a few of the leaders of RealmForge, and I came away with an impression of really immature people (like 16 or 17) with big egos and very little to back it up. I even tried to use RealmForge itself, and found it extremely lacking. Of course that was 2 or 3 years ago, and it was admittedly an "alpha" (according to them)... but still, a year later their flagship product had hardly changed, because they got distracted by these other projects (such as taking Axiom under their wing).
Now how does that differ from TrueVision?
The TV development team is dedicated to their product... they are an actual company (a registered LLC), who are making this in to their business. This is not just a hobby to them. Plus, purchasing a license means they have a certain amount of dedication to you, their customer. It's not a contractual dedication; merely good business sense.
Also, consider this: DarqShadow was a developer for Symantec if I'm not mistaken... he's an older gentleman who is a professional, and not just some code kiddie doing things that seem cool. He's focused, he's professional, and he knows how to make a product life cycle and development plan.
Now if you're looking to just mess around and make some tech demos or do some stuff to learn how to code better, then this really doesn't matter much to you. However, if you're planning on making an actual commercial game, then there's MUCH to be said for getting a real professional engine, and using one that comes from a real company that is professional, and not merely hobbyists.
Edited to add: Axiom's original developer was a guy with the handle "Leedguitar"... just remembered it.
