I've only used OpenTable twice, but it seems to be the start of what you're describing. It bills itself as a way to easily make restaurant reservations from your computer or mobile phone...but after you've been, they invite you to review the place.
I don't know if they see themselves as Yelp competitors, long-term, but I hope so.
I think OpenTable predates Yelp, actually. I might be wrong about that, but I remember having used OpenTable long before ever having seen Yelp. I didn't realize there was a review component to it. Good move on their part.
I don't know if they see themselves as Yelp competitors, long-term, but I hope so.