GPL=! copyright. That's the first thing to understand.
Copyright gives you a number of rights, such as the right to distibute the work as you see fit. By licensing the work with the GPL you don't lose the copyright (in the sense of droit moral at least) only some of the rights associated with copyright ("the four freedoms" etc).
Bottom line: if the libraries are published under the LGPL you can use them in a derived work without publishing it under the LGPL, if they are licensed under the GPL you must license the derived work under the same GPL license as the original work (or a newer version of the GPL).