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3rd generation:
NES sells 19M in Japan, 34M in NA, 9M in PAL, 62M overall

4th generation:
SNES and Genesis combined sell 21M in Japan, 41M in NA, 18M in PAL, 80M overall

5th generation:
PS1, N64, Saturn combined sell 33M in Japan, 63M in NA, 48M in PAL, 144M overall

6th generation:
PS2, GC, Xbox, DC combined sell 32M in Japan, 82M in NA, 60M in PAL, 174M overall

Big jump is obviously from 4th to 5th, with most of that being expansion in PAL regions. Remember a lot of the growth is due to more consoles available (multi-ownership) and population growth. Interesting to see how Japan's console market actually shrunk last-gen.