Mathematical, linear or Renaissance perspective, was first demonstrated by Filippo Brunelleschi around 1413-1420. Using visual experiments e.g. tracing reflections on mirrors, he developed his theories and understanding of perspective drawing.
Renaissance artists became fascinated with perspective particularly after Leon Battista Alberti published a paper about linear persepctive in 1435. This guaranteed its spread throughout Europe and became the standard for artists drawing.
You can look at this link for a history of perspective from Dartmouth College by Paul Calter 1998.
or read this handout by Richard Hammack on Alberti’s Method for Perspective drawing.