is there any automated way to do so?
A pdf of a schematic is just graphics and text, while a KiCad schematic has info from library symbols, pins and their names, wire connections and other stuff. So importing a schematic does not help you much and you must redraw the schematic.
You can import a graphic though, and then use that on the background as a guide for re-creating the schematic.
Having done a bit of work in this area myself, I’ll just say what you’re asking for is non-trivial. And that’s an understatement.
My goal was to convert a bitmap (BMP) file of the schematic of an Intel 4004 CPU into an Eagle schematic, preserving all of the component positions and connections. (KiCad was not an option at the time). In addition to the BMP, I had a text file which identified all of the components by name and coordinates in the BMP image, and a netlist file listing all of the connections by component pin and net name.
I was able to achieve my goal, but I was only dealing with three component types and had a lot of information not present in a PDF schematic. The only reason I even went down this path, rather than redrawing it by hand, is this schematic contains over 2,200 separate components, each with 2 to 3 connections.
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