1) Let us work in units where the speed-of-light $c=1$ is one.
In Ref. 1 is derived the radial geodesic equation for a particle in the equatorial plane
$$\tag{7.47} (\frac{dr}{d\lambda})^2+2V(r)~=~E^2, $$
with potential
$$ \tag{7.48} 2V(r)~:=~(1-\frac{r_s}{r})((\frac{L}{r})^2+\epsilon). $$
Here $\epsilon=0$ for a massless particle and $\epsilon=1$ for a massive particle. The energy $E$ and angular momentum $L$ are constants of motion (which reflect Killing-symmetries of the Schwarzschild metric); $\lambda$ is the affine parameter of the geodesic; and $r_s\equiv\frac{2GM}{c^2}$ is the Schwarzschild-radius. (More precisely, in the massive case $\epsilon=1$, the quantities $E$ and $L$ are specific quantities, i.e. quantities per unit rest mass; and $\lambda$ is proper time.)
2) By differentiating eq. (7.47) wrt. $\lambda$, we find that the condition for a circular orbit
$$r(\lambda)~\equiv~ r_{*} \qquad\Rightarrow\qquad \frac{dr}{d\lambda}~\equiv~0$$
is
$$\tag{1}V'(r_{*})~=~0\qquad\Leftrightarrow\qquad
\frac{2r_{*}}{r_s}~=~3+\epsilon(\frac{r_{*}}{L})^2.$$
3) Let us next investigate an incoming particle, which has non-constant radial coordinate $\lambda\mapsto r(\lambda)$, and that is precisely on the critical border between being captured and not being captured by the black hole. It would have a radial turning point $\frac{dr}{d\lambda}=0$ precisely at the radius $r=r_{*}$, so that
$$\tag{2} 2V(r_{*})~=~E^2\qquad\Leftrightarrow\qquad
(1-\frac{r_s}{r_{*}})((\frac{L}{r_{*}})^2+\epsilon)~=~E^2.$$
4) The massless case $\epsilon=0$. Eq. (1) yields
$$\tag{3}r_{*}~=~\frac{3}{2}r_s.$$
Plugging eq. (3) into eq. (2) then yields the ratio
$$\tag{4} \frac{L}{E}~=~\frac{3}{2}\sqrt{3}r_s. $$
We next use that $L$ and $E$ are constants of motion, so that we can easily identify them at spacial infinity $r=\infty$, where special relativistic formulas apply. The critical impact parameter $b$ is precisely this ratio
$$\tag{5} b~=~\frac{L}{p}~=~\frac{L}{E}~\stackrel{(4)}{=}~\underline{\underline{\frac{3}{2}\sqrt{3}r_s}}. $$
5) The non-relativistic case $v_{\infty}\ll 1$. The specific energy $E\approx 1$ consists mostly of rest energy. Solving eqs. (1) and (2) then leads to a unique solution
$\tag{6}r_{*}~\approx~ 2r_s~\approx~ L.$
The critical impact parameter $b$ becomes
$$\tag{5} b~=~\frac{L}{v_{\infty}}~\approx~\underline{\underline{2r_s\frac{c}{v_{\infty}}}}, $$
cf. Ref. 2. The cross section is $\sigma=\pi b^2$.
References:
S. Carroll, Lecture Notes on General Relativity, Chapter 7, p.172-179. The pdf file is available from his website.
V.P. Frolov and I.D. Novikov, Black Hole Physics: Basic Concepts and New Developments, p.48.