I have used IPB and vB for the last 4 years. I found that vB likes to eat bandwidth. IPB is propably more efficient using div’s and it has a more semantic markup, but both should be overhauled. Both say they are xhtml transitional, but meh. Both systems are heavy on tables. As well as being slightly better and being less heavy on tables in comparison to vB, IPB also has a better caching system. So if you will consider bandwidth, this will be quite a significant factor.
Visually IPB will always look more "appealing" to me, although vB kind of hints at professionalism, if you know what I mean. For example, it depends on your niche, but if you need a forum for a business then vB should be the one, and if its just a forum to discuss PC Games or something then it would be better to go with IPB. Or perhaps that is just my.
From a SEO point of view they both use dynamic gerenic file names with id strings passed. vBulletin has some good free add-ons for mod_rewrite rules which is pretty much the same as IPB's FURL. However, the SEO advantage would be with vB because there is the commercial product, vbSEO which is great. In addition to mod_rewriting urls, it will also 301 all the old URLs, it will re-write meta tags dynamically based on the topic information and most importantly it will add Adsense section targeting.
http://www.vbseo.com/
I had brief experience with MyBB which was pretty pleasant. Again one to consider, especially since it has very nice plugins. :)
Overall for your specifications I would go for vB. It has its disadvantages in having a bad caching system, and being heavy on tables so it will eat alot of bandwidth, but I think that it would still be the most appropriate choice. vB is superior to the other forums mentioned such as XenForo and SMF... and it would be stupid to take XenForo over vB anyway, its still in BETA and considering they have the old dev team of the old vB and will be programmed in the same way eating just as much bandwidth. My advise would be to research more on myBB and then decide between vB or myBB.