I am not from Brooklyn (although I lived in Manhasset for a few years 10 years ago), so I have nothing to gain in giving you the following answer.
I think the best way for you to do is to check out some of the Realtors on Trulia who serve Brooklyn and/or get some recommendation from your friends/ families about reputable Realtors in your area and ask them to come and do a comparable market analysis for you.
This is one of the biggest objections I have about some online sites that gave out estimates according to what's recently sold and all the tax record around the area (meaning prices that are decades old).
My husband just recently told me how low the price of my house is now according to Zillow (BTW, it flunctuate up and down $100,000 each way within a week span from the week before). I told him to ignore that - Zillow compared my property to one that's not next to open space, one that's a complete fixer, ..,etc. Zillow did not walk into my front yard. .
Most of the Realtors will do this for free and they don't require you to sign the contract to start with. This is also a good opportunity for you to check out whether you like the Realtor, check out his/her background, experience, knowledge about the area, the philosophy towards real estate and if you feel you can 'trust' and work with the Realtor - very important qualities; and more... (selling a house is not an easy thing, a lot to be considered).
Many brokerage also has Referral services to refer top Realtors to work with their out of state clients. That's another way to find top Realtors. .