If (and only if) you have access to the iPad's backup file, you'll be able to recover your data (photos, contacts, whatever) using one of the two following pieces of software that are made especially for that purpose:
http://www.wideanglesoftware.com/ibackupextractor/
or
You can try both for free before buying the full version.
This is a good one...
http://www.wideanglesoftware.com/ibackupextractor/
There are a bunch of apps out there that will do what you want, but none are going to be free.
The other alternative is to restore your iOS device with that backup file, import the pictures you want and then you did it for free.
iBackup Extractor is a good one and the demo lets you do a lot.
Depending on when you last backed up your iPhone, you could just restore from that backup using iTunes.