A planet's life forms inhabit ecosystems, whose total forms the biosphere. The biosphere is divided into a number of biomes, inhabited by broadly similar plants and animals. On land, biomes are separated primarily by differences in latitude, height above sea level and humidity. Terrestrial biomes lying within the Arctic or Antarctic Circles, at high altitudes or in extremely arid areas are relatively barren of plant and animal life; species diversity reaches a peak in humid lowlands at equatorial latitudes. Estimates of the number of species on Earth today vary; most species have not been described.