Living in Japan, I don't consider that the Saturn was a failure at all. Around here, it is just as easy to find games for it as it is for the Nintendo 64, for example (with the exception that the Saturn's library is much larger, has a lot more of variety and is, overall, much better than that of it's Nintendo counterpart).
So, I'd definitelly vote for the Dreamcast (even though, for me personally, it feels much more as a console belonging to the early 2000's than to the 90's...)