Obtaining bird's eye view of image in matlab using matched features.

Hey, I'm working on a domino sorting robot. My detection algorithm is dependent on the apparent size of the dominoes, and as such, I am seeking to rectify my view of the domino's (side-view) to a top-down/bird's eye view, so that the area of the dominoes remains roughly constant (or is less dependent on the position of the domino). I can robustly find matching features on the dominoes in multiple images, and therefore, calculate homographys for the dominoes.

My question is this: Given the homography of the dominos, how can I rectify the image to a bird's eye view/ are there any matlab functions that make this easier?

Additionally, if anyone had any hints on tracking the dominoes in the presence of occlusions (ie, when the robot arm is occluding the dominos while moving it), I would be very appreciative.

Thanks.