I've exported tons of stuff from DS to use in Poser, and OBJ works pretty well, although it's a pain if the prop set has a lot of parts. I recently bough a multi-part fantasy room set on sale to see what would be involved in getting it into Poser, and this time I tried FBX and DAE (Collada) formats. As bwldrd noted, FBX format made every item centered, which wouldn't be a big deal for a small number of items, but this set has nearly 100 items already positioned around the room, and I did not relish the idea of manually moving each one. So I tried Collada format, and for whatever reason, I cannot get the import/export scales right with that format. I can open it in my 3D modeler (Cheetah for Mac) and it looks fine with an imported V4 obj -- heck, even the point lights work! -- but in Poser it comes in anywhere from microscopic to extremely tiny. I'll keep trying, though, because all the items were properly positioned. 

As others have mentioned, the manual way gets you just the diffuse texture maps. You still have to manually set up specular, bump, and anything else you want. I love the idea that Ken's script takes care of the materials, but alas, it doesn't work on a Mac, so I can't use it.

As for clothing and hair, you can export that in CR2 format right to your Poser Character library.

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TOOLS: MacBook Pro; Poser Pro 11; Cheetah3D; Photoshop CC

FIGURES: S-16 (improved V4 by Karina), M4, K4, Mavka, Toons, and Nursoda's people

GOALS: Stylized and non-photorealistic renders in various fantasy styles