Main answer
Since I am interested in the same kind of job (though not necessarily to OCR the PDF files, but to convert them to DjVu and then OCR them), I found this question and the responses lacking (since I needed to guess the DPI of the images with the number of pixels and then use the size as output by pdfinfo or other tricks---not to mention that the images inside a PDF may have different densities etc.).
After a lot of research more, I found that you can use pdfimages (from package poppler-utils) like the following:
$ pdfimages -list deptest.pdf
page num type width height color comp bpc enc interp object ID x-ppi y-ppi size ratio
--------------------------------------------------------------------------------------------
1 0 image 100 100 gray 1 1 image no 9 0 53 53 169B 14%
2 1 image 100 100 gray 1 1 ccitt no [inline] 53 53 698B 56%
Notice the x-ppi and y-ppi at the listing above. It also lists the format in which the images are stored in the PDF, which is cool (sometimes, it is JBIG2, sometimes JPEG2000 etc.)
Note: The file deptest.pdf used above is available from pdfsizeopt's repository.
The real action
After that, you can simply extract the images with pdfimages itself or use pdftoppm (also from poppler-utils) to render entire pages in many formats that you may like (e.g., tiff, for scanning with tesseract).
You can use something like the following (assuming you have created a directory named imgs where you will put your images):
pdfimages -png Faraway-PRA.pdf imgs/prefix
The files will be created inside the directory imgs with names starting with prefix, as in:
$ ls
prefix-000.png prefix-047.png prefix-094.png prefix-141.png
prefix-001.png prefix-048.png prefix-095.png prefix-142.png
prefix-002.png prefix-049.png prefix-096.png prefix-143.png
prefix-003.png prefix-050.png prefix-097.png prefix-144.png
(...)
You can, then, perform any surgery that you see fit with tools like scantailor or whatever you like.
More direct answer
If you just want to OCR a PDF file, you can use a program that is well-maintained and already packaged, namely ocrmypdf.