To solve the problems of depth location of underwater targets and complex underwater imaging environment during underwater teleoperation, an information acquisition system based on the camera array and an integral imaging three-dimensional reconstruction algorithm based on depth and sum modulus difference evaluation function are used to achieve the target depth estimation and clear imaging with occlusion simultaneously. A CCD camera automatic scanning array imaging system is established by the programming of LabVIEW software. Imaging and depth reconstruction experiments of occluded underwater targets are carried out. Errors of three independent targets′ reconstruction depths and the actual depths at different depth are 0.21%, 1.26% and 1.34% respectively. Experimental results show that this method can remove the occlusion and obtain the depth value of target simultaneously after only one reconstruction.