During the Renaissance, astronomy made great advances. For almost 2000 years, people believed the Earth was the center of the universe based on Greek scientists like Aristotle and Ptolemy. Nicolaus Copernicus proposed the sun-centered model, though few believed him. Galileo greatly improved the telescope and made discoveries like the moon's craters and Jupiter's moons. After his observations, Galileo agreed with Copernicus' model, though the Catholic Church arrested him for this view. Tycho Brahe took precise planetary measurements, and his student Johannes Kepler developed laws of planetary motion and showed planets need not orbit in perfect circles.