After doing all this manually, I found a writeup by Chris Adams where he talks about a process for using computer vision to automatically extract figures from pages of text [3]. So that's my current side-project.
Finally, after all of this, I was searching the Flickr Commons for imagery and noticed that the Internet Archive already has gobs of book illustrations extracted and posted to Flickr [4]! There's so many it must be an automated process, but I haven't found any details. They don't seem to be uploaded with the best quality possible, and the captions aren't included, so I think I'll continue on my quest (which is currently focused on generating high-quality public domain beekeeping-related imagery).
[1]: http://bost.ocks.org/mike/make/
[2]: https://github.com/beardicus/bk-fig-phillips
[3]: http://chris.improbable.org/2013/08/31/extracting-images-fro...
[4]: https://www.flickr.com/photos/internetarchivebookimages/
edit: formatting