In k3b, if you click Tools --> Copy DVD, it will copy the dvd just fine. In the window that pops up, you can pick where the image is saved in the Image tab. Also, don't worry that the saved file ends in .img, this is in fact an .iso file. Simply renaming it to "whateverthediscis.iso" will solve the problem if the extension is an issue.
Also, if you are copying movie dvd's, you'll need libdvdcss (just google for it). This will decode the encryption allowing you to backup your dvd collection.
You can also add other little features like video transcoding, but for simply backing up images this should work just fine.
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