Look for DvdMenuXtractor. It extracts all the meaningful info from a DVD file structure and prepares scripts to merge them back in Matroska with mkvtoolnix. It's not a 100% safe tool and is unmaintained. It was mostly a proof of concept, but VLC is supposed to play the produced files, including the DVD menus.
I don't suggest playing such files on the web though ;)
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