A high-resolution large-area terahertz (THz) scanning imaging system is demonstrated based on a $124\times 124$ pyroelectric array camera and a ${\text{CO}}_2$ pumped continuous-wave THz laser. By applying a scanning mechanism to the real-time imaging setup, images of large-area targets were accomplished. Self-made resolution charts were employed to test the resolution. In order to improve the image quality, the noise in the images was studied and modeled, and then the performance of several denoising methods was compared with real-time THz original images. The experimental results show that, with the help of anisotropic diffusion, noise can be effectively suppressed, and the results are visually pleasant even when there is great attenuation. Those results greatly confirm application potentials of THz imaging using pyroelectric cameras in the field of concealed object detection.