Methods, and systems therefrom, for generating images from time of flight (TOF) data associated with a scan of at least one object using a positron emission tomography system are provided. The method includes providing initial values for an activity image to yield a current activity image. The method also includes estimating initial values for an attenuation map (μ-map) image based on the TOF data to yield a current μ-map image. The method further includes repeating, until at least one termination condition is met, the steps of updating the current activity image based on at least the current μ-map and a first update algorithm and updating the current μ-map image based on at least on the updated activity image and a second update algorithm. The method also includes outputting an image of the at least one object based on the current μ-map and the current activity image.