winavi convertor is a bit faster then Nero, & SOMETIMES does a better job on the conversion. It provides chapter stops, but it does not author menus.
http://www.winavi.com/

Also, have you tried Nero 6? I haven't tried the recent updates, but the first couple releases of Nero 7 were inferior to the next to final Nero 6 (the final Nero 6 version burning component was basically the same as 7, so I suggest using 6.6.0.18 rather then 6.6.1.4.