This study proposes a highly accurate method for estimating the distribution of radiation sources, using a particle filter of the Bayesian estimation framework, which incorporates the structural information of the reactor at the Fukushima Daiichi Nuclear Power Plant as the prior information. From the experimental result, unlike the maximum likelihood estimation method, our method performed well in an extreme measurement environment where the detector could not reach, and showed high accuracy in the estimation of the point-like and distributed radiation sources.