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The local bus in Amiens is called ametis, and the B9 bus runs from the train station to the cemetery. Link to schedule below. Individual tickets are 1,20€, or you can get a day pass for 3,45€ from the bus office near the train station.

You say you are not into cathedrals so forget about Amiens. The most beautiful of the others you mention is definitely Bruges, which is like stepping into a genuine medieval city. It has these canals and is effectively the Venice of the North so a boat trip is a must. It is also very compact and it has a good shopping centre, shops that sell exquisite chocs, and masses of restaurants on the main square as well as an easy to reach Mac Donald's. It is a essentially a Flemish town. Brussels is a capital, so very busy. It has a spectacular Grande Place and lots of narrow quaint streets around it and the shops are in a different area. There is the Atomium which is their equivalent tourist site to the Eiffel tower. Most people there speak French rather than Flemish and there are the headquarters of the EU located there as well. Lille is a mixture of ancient and modern. It also is very big city with a lot of shops and is full of bustle. It has the ancient Lille area which is quite pictureque but not as striking as Bruges, or Brussels and an enormous shopping pedestrian area. Some people do not like it because it is too big and it has all the same international shops you find everywhere else. I am a teenager, and I thought the most striking and memorable was Bruges, but if you are not interested in historic buildings go for the shops.