Some links that could help to start digging for information to answer to your question:

Historical maps: http://en.wikipedia.org/wiki/World_map#Historical_maps

Early World maps: http://en.wikipedia.org/wiki/Early_world_maps

Alberto,

See Harley, J.B. and David Woodward. The History of Cartography, vol. 1, Preface, xvi, (Chicago, The University of Chicago Press, 1987) for what has become probably the most widely accepted definition of "map" in the historical context. Chapter 1 of the same publication contains a literature review on the development of the history of cartography that you may also find relevant to your question.

www.press.uchicago.edu/books/HOC/HOC_V1/Volume 1.html.