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Well Uncharted traditionally sells 6-7 million physical units, that was based on PS3's install base and hardware sales pace.
Naughty Dog have become known as one of the most prestigious video game development studios in the world with the history of this franchise and The Last of Us (to a certain degree J&D and Crash).
PS4 has already sold a good 85% more units than PS3 did at this point in it's life, so I think everything together, with how good this game looks will likely point to the game selling between 11-12 million units in it's lifetime.

This game is going to be huge.