If the characters picture is still with the others( greyed out obviously), then yes you can get them back. If you are high enough level, a cleric could cast Raise Dead spell on that characters picture. If not then visit a Temple,talk to the priest, select the dead characters picture and the Raise Dead option should become available for them. Can't remember how much it costs though.
If the characters picture has gone from the others though, then they have taken too much damage to be raised and are lost forever( barring reloads).
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