Sorry it took me an extra day, but yesterday was a bit manic round here 
OK, it seems that the instructions you’re following are slightly wrong for 64bit … they tell you to export the wrong path (for 64bit) … it should have been:
export PKG_CONFIG_PATH=/usr/local/lib64/pkgconfig
Here’s the FULL instructions for 12.04 64bit (and 11.10 64bit)
sudo apt-get update
sudo apt-get upgrade
If you’re running Ubuntu 12.04 64bit install these dependencies:
sudo apt-get install linux-headers-generic autotools-dev build-essential cmake cpp libboost-signals1.46.1 libboost-signals1.46-dev libboost-thread1.46.1 libboost-thread1.46-dev libcv2.3 libcv-dev libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-dev libopencv-features2d-dev libopencv-calib3d-dev libgnomecanvas2-0 libgnomecanvas2-dev libgsl0-dev libgtk2.0-dev libjpeg62-dev libtool libxmu-dev swig python2.7-dev libcv-dev libcvaux-dev libhighgui-dev
OR
If you’re running Ubuntu 11.10 64bit install these dependencies instead:
sudo apt-get install linux-headers-generic autotools-dev build-essential cmake cpp libboost-signals1.46.1 libboost-signals1.46-dev libboost-thread1.46.1 libboost-thread1.46-dev libcv2.1 libcv-dev libgdk-pixbuf2.0-0 libgdk-pixbuf2.0-dev libgnomecanvas2-0 libgnomecanvas2-dev libgsl0-dev libgtk2.0-dev libjpeg62-dev libtool libxmu-dev swig python2.7-dev libcv-dev libcvaux-dev libhighgui-dev
OK, now to download Player and Stage -
mkdir ~/pas
cd ~/pas
wget http://sourceforge.net/projects/playerstage/files/Player/3.0.2/player-3.0.2.tar.gz
wget http://sourceforge.net/projects/playerstage/files/Stage/3.2.2/Stage-3.2.2-Source.tar.gz
Now to extract and install Player -
tar -xvf player-3.0.2.tar.gz
cd ~/pas/player-3.0.2
mkdir ~/pas/player-3.0.2/build
cd ~/pas/player-3.0.2/build
cmake ../
make
sudo make install
cd ~
sudo updatedb
export PKG_CONFIG_PATH=/usr/local/lib64/pkgconfig
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
OK, now for Stage -
Install these dependencies (12.04 and 11.10 64bit):
sudo apt-get install freeglut3 freeglut3-dev libfltk1.1 libfltk1.1-dev libltdl7 libltdl-dev libpng12-dev libpng12-0
Now to extract Stage:
cd ~/pas
tar -xvf Stage-3.2.2-Source.tar.gz
Now you need to edit 3 lines in the CMakeLists.txt file -
gedit ~/pas/Stage-3.2.2-Source/build/CMakeLists.txt
Find the lines that read:-
SET (CMAKE_CXX_FLAGS_RELEASE " -O3 -DNDEBUG ${WALL} " CACHE INTERNAL "C Flags for release" FORCE)
SET (CMAKE_CXX_FLAGS_DEBUG " -ggdb ${WALL} " CACHE INTERNAL "C Flags for debug" FORCE)
SET (CMAKE_CXX_FLAGS_PROFILE " -O3 -ggdb -pg ${WALL} " CACHE INTERNAL "C Flags for profile" FORCE)
and change them to:-
SET (CMAKE_CXX_FLAGS_RELEASE " -O3 -DNDEBUG -Wl,--no-as-needed " CACHE INTERNAL "C Flags for release" FORCE)
SET (CMAKE_CXX_FLAGS_DEBUG " -ggdb -Wl,--no-as-needed " CACHE INTERNAL "C Flags for debug" FORCE)
SET (CMAKE_CXX_FLAGS_PROFILE " -O3 -ggdb -pg -Wl,--no-as-needed " CACHE INTERNAL "C Flags for profile" FORCE)
SAVE the file, and exit gedit.
Back in the terminal run:
mkdir ~/pas/Stage-3.2.2-Source/build
cd ~/pas/Stage-3.2.2-Source/build
cmake ../
make
sudo make install
And now to test …
cd ~/pas/Stage-3.2.2-Source/worlds
player simple.cfg