menuselect tells you the missing dependencies. Resolve them and then run ./configure and menuselect, again.
There appear to be two dependencies. If unixodbc is missing, you will need to add --with-odbc to the configure line, specifying the location of the unixODBC package files.
The Asterisk documentation says where to get further information on unixODBC.
ODBC resource
Depends on: generic_odbc(E), ltdl(E)
Support Level: core
yum install ltdl unixODBC*
Loaded plugins: refresh-packagekit, rhnplugin
Setting up Install Process
Package libtool-ltdl-2.2.6-15.5.el6.x86_64 already installed and latest version
Package unixODBC-2.2.14-11.el6.x86_64 already installed and latest version
Package unixODBC-devel-2.2.14-11.el6.x86_64 already installed and latest version
Nothing to do
[root@localhost asterisk-1.8.8.1]#
Yep, if only it listed the packages that it needs.