It seems I have the same problem.

I am on Gutsy.
When inserting a CD-rom containing files with utf-8 filenames, ubuntu does not 
mount the CD-rom as utf8.
Messages show : Apr 10 08:57:28 bourdon kernel: [  884.044000] UDF-fs: No VRS 
found
fstab show : /dev/scd0       /media/cdrom0   udf,iso9660 user,noauto,exec 0     
  0
Filename are shown as ???? by both terminals and nautilus.

Unmouting it and mounting it again with utf8 option :
[EMAIL PROTECTED]:/tmp# umount /media/cdrom0
[EMAIL PROTECTED]:/tmp# mount -o utf8 /dev/scd0 /media/cdrom0
solves the problem.

I think this problem is hald related and I don't really know how we can
make hald detect the file system charset of the cdrom.

-- 
Cdrom mounting - default parametres
https://bugs.launchpad.net/bugs/114377
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