Geomancy's history is one of the clearest cases of a technique crossing civilisations while keeping its structure intact.
It appears in the Arabic-speaking world and the Sahara by around the ninth century as ilm al-raml, the science of the sand, named for the surface on which the dots were made. Its own origin legends attribute it to Idris or to Daniel; the documented record begins with Arabic manuals, and it was practised across North Africa and the Middle East as a serious learned art with a substantial literature.
It entered Europe by translation in the twelfth century, alongside the rest of the Arabic scientific inheritance, under the Latin name geomantia. That name is the source of most modern confusion, since it invites the assumption that the art concerns the earth in the sense that feng shui does. It does not; the earth is simply where the dots were made. Medieval and Renaissance Europe took it up widely, and Agrippa treats it seriously; a work on geomancy circulated attached to his name, and it, with a handful of Renaissance manuals, is the basis of most modern European practice.
Independently, or by the same transmission, the question is genuinely open, closely related systems are found across sub-Saharan Africa and in Madagascar as sikidy, and the West African Ifa system of the Yoruba works with sixteen basic figures generated in a comparable binary manner, though with an enormous body of oral verse attached that European geomancy has no equivalent of. Whether Ifa and ilm al-raml share an origin is argued by scholars and not settled.
The Golden Dawn in the nineteenth century systematised the European version astrologically and standardised the correspondences most modern practitioners use, which means that here too the immediately inherited form is a Victorian one.