Brazilians are voting in an election which could see one of the world’s most populous democracies switch from a far-right to a left-wing leader.

Voting is compulsory for the more than 156 million Brazilians eligible. Incumbent Jair Bolsonaro is seeking a second term after four years in power but is being challenged by ex-President Luiz Inácio Lula da Silva. A result is expected within hours after polls close at 17:00 (20:00 GMT).

The campaign has been acrimonious and polarising with the two main candidates trading insults. During a televised debate on Thursday, President Bolsonaro called Lula, who served time in prison after being convicted on corruption charges, an “ex-inmate” and a “traitor”, while Lula labelled the president “a liar”.