It is important to measure the respiratory cycle in positron emission tomography (PET) to enhance the contrast of the tumor as well as the accuracy of its localization in organs such as the lung and liver. Several types of data-driven respiratory gating methods, such as center of mass and principal component analysis, have been developed to directly measure the breathing cycle from PET images and listmode data. However, the breathing cycle is still hard to detect in low signal-to-noise ratio (SNR) data, particularly in low dose PET/CT scans. To address this issue, a time-of-flight (TOF) PET is currently utilized for the data-driven respiratory gating because of its higher SNR and better localization of the region of interest. To further improve the accuracy of respiratory gating with TOF information, we propose an accurate data-driven respiratory gating method, which retrospectively derives the respiratory signal using a localized sensing method based on a diaphragm mask in TOF PET data. To assess the accuracy of the proposed method, the performance is evaluated with three patient datasets, and a pressure-belt signal as the ground truth is compared. In our experiments, we validate that the respiratory signal using the proposed data-driven gating method is well matched to the pressure-belt respiratory signal with less than 5% peak time errors and over 80% trace correlations. Based on gated signals, the respiratory-gated image of the proposed method provides more clear edges of organs compared to images using conventional non-TOF methods. Therefore, we demonstrate that the proposed method can achieve improvements for the accuracy of gating signals and image quality.