I don't think there are any. PDFs are meant for display and print, not so much for editing and data extraction. The http://www.coderanch.com/how-to/java/AccessingFileFormats lists numerous libraries -commercial and free- that work with PDFs, but I think the best they'll be able to do is to extract all text that's inside a PDF in an unstructured way.
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Thanks Ulf, will update this post if I find an option to extract the data from pdf and write it to an xls format.