The Roman Empire began in 27 BCE when Augustus became the sole ruler of Rome. Augustus and his successors tried to maintain the imagery and language of the Roman Republic to justify and preserve their personal power. Beginning with Augustus, emperors built far more monumental structures, which transformed the city of Rome.

There are seven legendary kings of Rome: Romulus, Numa Pompilius, Tullus Hostilius, Ancus Martius, Lucius Tarquinius Priscus (Tarquin the Elder), Servius Tullius and Tarquinius Superbus, or Tarquin the Proud (534-510 B.C.). While they were referred to as “Rex,” or “King” in Latin, all the kings after Romulus were elected by the senate.