I've already seen this answer , but it didn't work! I tested both CentOS 6 and 7 and I got the same error.
Interestingly enough when I try to install it on Vm, everything goes smoothly.
I have the same problem on trying a USB live CD of Porteus - v4.0rc4-x86_64 (but I have had this happen before).
Strangely, it seems almost impossible to get a real solution to this problem. One solution which might work for you (although it didn't for me) might be replacing the vesamenu.c32 file with the same from a more recent syslinux. This is one of the suggestions I came across but it can't be the solution to my problem as the syslinux in the iso file I have seems pretty recent.