A real time integral imaging pickup system was proposed using a binocular stereo camera. In the proposed system, the conventional camera array was replaced by the binocular stereo camera for three-dimensional (3D) scene pickup, which made the system simpler. In the system, left view and right view images were first captured by the binocular stereo camera, and the high-resolution depth map was calculated in the graphics processing unit. Then, the depth map and color texture image were used to generate the parallax images of new perspectives in parallax, and pixel mapping algorithm was adopted to obtain the high-resolution elemental image array for the real-time integral imaging display. In the experiment, the resolution of the calculated depth map was 4.25 times more than the depth map acquired by Microsoft Kinect2, the real-time pickup and display for 3D scene can be achieved in case the resolution of elemental image array was 1 920 pixel×1 080 pixel, and sub-images was 9×9. The experiment results demonstrate the effectiveness of the proposed system.