You can't.
I am answering this 3 1/2 years later because nothing has changed and I'm still heartsick over the pictures and videos I just lost when I restored my iPhone to an earlier version, forgetting that I was about to lose all my pics and videos taken since that version was saved.
People like me are still coming to this page hoping someone has a miracle answer for them, but there is none. I've been on the phone with various Apple representatives for the last two hours. We tried everything and they have confirmed for me what I am telling you. Alas, the pictures and videos are gone.
My tears have dried now and I'm ready to help someone else. If you haven't backed up your photos in either iTunes or iCloud, they are gone forever. The fact is, if you didn't back them up, they didn't exist anywhere except in your iPhone.
One thing I would encourage everyone to do: go to iTunes and UNCHECK the box that says "Automatically sync when this iPhone is connected." You don't want ANYTHING doing ANYTHING "automatically" when you connect your iPhone to your computer. That way, you stay in control.
Then, back up your current setup before your computer can wipe your iPhone as you know it and replace it with an iPhone you used to have.
I'm sorry you lost your pictures. I lost a ridiculous number of pics and videos of my grandchildren, and they are never going to be 2 years old or 6 years old again. You can believe me when I say I feel your pain.