In positron emission tomography (PET), attenuation correction is typically done based on information obtained from transmission tomography. Recent studies show that time-of-flight (TOF) PET emission data allow joint estimation of activity and attenuation images. Mathematical analysis revealed that the joint estimation problem is determined up to a scale factor. In this work, we propose a maximum likelihood reconstruction algorithm that jointly estimates the activity image together with the sinogram of the attenuation factors. The algorithm is evaluated with 2-D and 3-D simulations as well as clinical TOF-PET measurements of a patient scan and compared to reference reconstructions. The robustness of the algorithm to possible imperfect scanner calibration is demonstrated with reconstructions of the patient scan ignoring the varying detector sensitivities.