If they were in the camera roll when you last backed up, restoring to the backup should recover them.
Restoring to an iCloud backup requires you to first erase the phone. If you have newer data on your phone that is not in the backup you'll have to save that first. Then go to Settings>General>Reset, tap Erase All Content and Settings, go through the setup screens on the phone and when given the option, choose Restore from iCloud backup.
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