DocBook/MathML-to-PDF conversion

Hello,

could anybody of you give me some info about what working solutions for 
producing good PDF output from DocBook with MathML exist? Pointers to web 
pages etc. are also welcome. I've just searched the web a bit and found 
something about using FO and PassiveTeX. Are there better solutions?

And where can I find detailed documentation about what has to be done to 
produce the PDF file?

Thanks in advance.

Wolfgang