To perform reliable information processing in quantum computers, quantum error correction (QEC) codes are essential for the detection and correction of errors in the qubits. Among QEC codes, topological QEC codes are designed to interact between the neighboring qubits, which is a promising property for easing the implementation requirements. In addition, the locality to the qubits provides unusual tolerance to local errors. Recently, various decoding algorithms based on machine learning have been proposed to improve the decoding performance and latency of QEC codes. In this work, we propose a new decoding algorithm for surface codes, i.e., a type of topological codes, by using convolutional neural networks (CNNs) tailored for the topological lattice structure of the surface codes. In particular, the proposed algorithm takes advantage of the syndrome pattern, which is represented as a part of a rectangular lattice given to the CNN as its input. The remaining part of the rectangular lattice is filled with a carefully selected incoherent value for better logical error rate performance. In addition, we introduce how to optimize the hyperparameters in the CNN, according to the lattice structure of a given surface code. This reduces the overall decoding complexity and makes the CNN-based decoder computationally more suitable for implementation. The numerical results show that the proposed decoding algorithm effectively improves the decoding performance in terms of logical error rate as compared to the existing algorithms on various quantum error models.