During the Deep Roads Expedition, the following event occurs:
Carver died, taking all of the equipment he had on him.
Do I have any chance for recovering any of it?
Unfortunately, you do not. You lose everything unless you made sure to unequip them before the event occurs. The Wikia confirms this:
Note: You will lose all equipment held by either party member, so be sure to take any equipment you'd like to keep from them before leaving.
