Yes, you can do this via iTunes. First of all, you need to have your folders placed inside your Pictures or My Pictures folder on your PC. Make sure you don't have any sub-folders within in your folders.
In iTunes, plug your iPad in. Once connected, click on the iPad in the left hand column then select the Photos tab. Make sure the Sync Photos box is checked. Select the option that allows you to select the folders to sync, then check the folders required. Click Sync and away you go.
Be careful if syncing a lot of photos at once. Apparently it is a very slow process, so allow time and maybe add 1 folder at a time depending on how many you have in each folder.