According to Wikipedia, it's MPEG-LA that own the intellectual property rights, and they levy a 25¢ fee for each equipped device - Sony, Apple, Texas Instruments were amongst the funders of its development.
Apparently, FireWire is also more expensive to implement. But the latter is obvious, if you know anything about the technology - it's superior in every way when compared to USB, but also more complex. In brief: USB=VHS, FireWire=Betamax.
The only reason USB is on everything is because it's cheaper, not superior. And because it's on everything, everything gradually migrated towards using it, despite its inferiority. Heck, even Apple stopped providing FireWire cables for its iPods and offered USB cables instead, even though FW transfer of data meant much faster copying of files - they wanted the PC-user market. Mice and keyboards on PCs used to have dedicated PS/2 ports, and these allowed mice to be run at far higher polling rates (and therefore offer smoother and more accurate operation than USB). But now, it's all USB (you can increase the polling rate of your USB ports, but at the high risk of introducing instability in other attached peripherals).
AFAIK, USB 3 has all the same failings as USB 2 (eg. uses CPU cycles to manage data transfer - FireWire manages itself independently of host's CPU). Thunderbolt, USB 3's competitor, is similarly superior, but is once again more expensive to implement - but it can do things that USB 3 can only dream of.
*shrug* The best things in this world often go ignored for the weakest of reasons.
EDIT: from what I can uncover, FireWire has good jitter recovery built in as a result of employing something called Data Strobe Encoding. I can find very little information on USB's timing properties, and what little I can find that seems to refer to it is not wholly positive.