In the 2nd century CE, Claudius Ptolemy showed the Ptolemy map of the world as designed by Agathodaemon of Alexandria in his book on the geography of the world.
In this map:
The map was based on the knowledge that the Romans had of the world at the time and even though the size of the continents are wrong and some continents are missing, the general locations of the continents were correct.
For instance:
In conclusion, Europe was located to the Northwest, Africa to the South and Asia to the East i Ptolemy's map of the world.
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