estimate (n.) Look up estimate at Dictionary.com
1560s, from L. aestimatus, verbal noun from aestimare (see esteem). As a builder's statement of projected costs, from 1796.
estimate (v.) Look up estimate at Dictionary.com
1590s, "appraise the worth of," from L. aestimat-, pp. stem of aestimare (see esteem). Meaning "form an approximate notion" is from 1660s. Related: Estimated; estimates; estimating.