The impressive video Human Population Through Time that you will see below describes the increase in the population of the earth over the last thousands of years. You will notice that it took a long time for the population explosion to occur.
To be more specific, it took us 200 thousand years to reach the first billion people, but only 200 years to hit the seven billion milestone. 
Watch the video with the map that tracks the growth of the world's population. The video shows how we spread around the world and highlights empires and historical events over the years.
The very interesting video Human Population Through Time that you are about to watch was uploaded to YouTube by the American Museum of Natural History.
Watch it
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