Wireless Sensor Networks (WSNs) are widely used for monitoring and observation of dynamic phenomena. A sensor in WSNs covers only a limited region, depending on its sensing and communicating ranges, as well as the environment configuration. For efficient deployment of sensors in a WSN the coverage estimation is a critical issue. Probabilistic methods are among the most accurate models proposed for sensor coverage estimation. However, most of these methods are based on raster representation of the environment for coverage estimation which limits their quality. In this paper, we propose a probabilistic method for estimation of the coverage of a sensor network based on 3D vector representation of the environment.