Ancient Greek astronomers developed early geocentric models of the universe with Earth at the center. Eudoxus created the first such model in 380 BC as a series of concentric spheres carrying the stars, sun, moon and planets around Earth. Later, Aristarchus proposed a heliocentric model placing the sun at the center in the 3rd century BC, but it was not widely accepted. Ptolemy's 2nd century AD geocentric model placed Earth at the center surrounded by nested spheres carrying objects in our solar system and became the accepted model for over 1,000 years until Copernicus revived Aristarchus' heliocentric theory in 1543.