Looking for the title of a science fiction book (possibly the first of a series)?

I read this book many years ago and haven't been able to remember the title. It begins in a suburban neighborhood when several people are taken away (by spaceship maybe?) and then sold into slavery. One of the people is a father who finds out later in the book that his wife and child have died in servitude. Other people who were taken were a woman and her real estate agent (an asian woman)... I cannot for the life of me remember how it ends, which makes me think there is at least a second book which follows. I think I remember the hardcover being yellow.