Has there been a comprehensive analysis of relative human population growth rate throughout history?
I'm interested in seeing how the growth rate (not world population) has evolved in the past several thousand years. A graph would be ideal for this but all I've been able to find is relative growth for the last several hundred years. All the graphs I've found that deals with population growth across centuries only display absolute numbers. As growth is exponential I can't really draw any conclusions about growth relative to population.
What I'm looking for: a graph outlining estimated population growth rate per annum/decade/half-century, ideally since recorded history.