Check out Albrecht Dürer
http://www.ibiblio.org/wm/paint/auth/durer/
Hard to say who "discovered" it, but Durer is sure early, and he clearly understood mathematics, too.
Neat example of his perspective work here
http://mathforum.org/sum95/math_and/perspective/perspect.html Another answer: Brunelleschi discovered it abot 1415.
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