5.5-6 million is the same stock number has used for the shipments of both the GameCube and Wii through their first March (which is Nintendo's fiscal year end).
GameCube missed hitting 6 million.
Wii got it (obviously).
Wii U will probably miss these targets unless Japan really comes through for them.
Comparing to the 360/PS3 may give some comfort, but the reality those were very future proof systems that had a very long runway ahead of them, so a slower first year for the 360/PS3 consoles wasn't as big of a deal. In effect you could say the 360 basically launched a year ahead of when it should have (and MS paid the price with overheating systems to push the machine out by 2005). PS3's first year was anchored by that monstrous price tag.
The Wii U is going to be very dated in a few years time, it doesn't have the luxury of having just a "better than PS3" first year as being a good thing. It needs to sell great in its first year.