KiCad allows importing on any layer from vector graphics (SVG and DXF currently.)
Not directly bitmap images, but there's a separate tool for converting bitmap images to footprints, that you could then just add on the copper layer.
Alternatively you can use Inkscape or some other tool to convert your bitmap to SVG (vectorization will be better using Inkscape I think) and then import that in KiCad directly. That's pretty straightforward.
Do not expect not to have to do manual touch-ups though. And of course you need to finely adjust the dimensions.