There's really no telling what Google thinks of them. What's a lot more important is what YOU (and your potential customers) think about them.
Do YOU use these directories when you're looking for a business? If not, what makes you think your customers would use them? If you do use them and you know your prospects do, too, then it's probably useful to be listed in them, regardless of what Google "thinks."
You're not going to get penalized for having a few directory links (unless perhaps those are the only
links you have). Google expects websites to have a certain percentage of "lower value" links as part of a natural link profile. The problems arise when all
your links are low-quality.
On the other hand, they're probably not going to bring you much raw "SEO benefit" either. So unless you think they'll be a good source of referral traffic, I wouldn't bother if it were me.