If you use Matlab this problem can be solved by writing your script or using published scripts from http://www.mathworks.com/matlabcentral/fileexchange/?utf8=%E2%9C%93&term=digitizing+graph
In most cases these processes can be made automatically (if you will process similar data).
Another way is using speciall program from internet, for example, GetData Graph Digitizer (http://getdata-graph-digitizer.com/index.php) or other.
But in this case, the processing will be non-automatic.
A lot depends on what type of data you want to digitize: complex (or simple) graph or spatial graphics images