PyMuPDF seems to be intended for this use-case and mentions images:

https://medium.com/@pymupdf/rag-llm-and-pdf-conversion-to-ma...

(Though the article linked above has the feeling, to me, of being at least partly AI-written, which does cause me to pause)

> Update: We have now published a new package, PyMuPDF4LLM, to easily convert the pages of a PDF to text in Markdown format. Install via pip with `pip install pymupdf4llm`. https://pymupdf4llm.readthedocs.io/en/latest/