When we did our equipment evaluation, we looked at all of these systems with the exception of Goepel. My team and I thought that the image quality of the Mirtec machine was by far the best of any of the other vendors. We also found that the machine was simple to program and operate especially during debug. Even more importantly, MIRTEC caught every one of our defects on the first pass, as well as a cracked component which my team was not aware of.
We now have six machines and our production quality has improved dramatically. We mainly use our machines for post-reflow inspection, but we routinely use the machines to verify setup of the line pre-reflow.
Mirtec is more expensive, but well worth the money based on the performance of the equipment.
Best of luck,