The geography of North Africa has been reasonably well known among Europeans since classical antiquity in Greco-Roman geography. Northwest Africa (the Maghreb) was known as either Libya or Africa, while Egypt was considered part of Asia. European exploration of Sub-Saharan Africa begins with the Age of Discovery in the 15th century, pioneered by Portugal under Henry the Navigator. The Cape of Good Hope was first reached by Bartolomeu Dias on 12 March 1488, opening the important sea.
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