The Boston Public Library has recovered a centuries-old map compiled by French explorer Samuel de Champlain that was believed stolen from the library more than a decade ago.

The library announced Friday that the curator of its map center, Ronald Grim, located the map at a New York City antiques dealer, where it was on sale for $285,000.

In 2005, Grim discovered the map was among nearly 70 missing from the library. More than 30 have been recovered.

A man who served prison time in connection with the theft of maps from several institutions, including Yale University, confessed to stealing 34 from the Boston library.

The 1612 Champlain map depicts the coast of New England and the Canadian maritime provinces, and an area as far west as the Great Lakes.