"engauge-digitizer" (http://digitizer.sourceforge.net/). which seems to do that. There is a compiled version for fedora, ubuntu (perhaps for other linux systems)
"g3data" (http://www.frantz.fi/software/g3data.php) seems also to do that. There is a compiled version for fedora, ubuntu (perhaps for other linux systems)
You can find many other softs by searching "extracting data from graphs" on the web.
another software also is Plot digitizer. This program will allow you to take a scanned image of a plot (in GIF, JPEG, or PNG format) and digitize values off the plot just by clicking the mouse on each data point.