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PDF is a popular document file format with a flexible file structure that can embed diverse types of content, including images and JavaScript code. However, these features make it a favored vehicle for malware attackers. In this paper, we propose an image-based PDF malware detection method that utilizes pre-trained deep neural networks (DNNs). Specifically, we convert PDF files into fixed-size grayscale images using an image visualization technique. These images are then fed into pre-trained DNN models to classify them as benign or malicious. We investigated four classical pre-trained DNN models in our study. We evaluated the performance of the proposed method using the publicly available Contagio PDF malware dataset. Our results demonstrate that MobileNetv3 achieves the best detection performance with an accuracy of 0.9969 and exhibits low computational complexity, making it a promising solution for image-based PDF malware detection.