First published comprehensive heliocentric model

Nicolaus Copernicus, born in Torun, Poland, published "De revolutionibus orbium coelestium" in 1543, presenting the first mathematically detailed model placing the Sun rather than the Earth at the center of the solar system. The work is widely regarded as the starting point of the scientific revolution in astronomy. It overturned more than a thousand years of Earth-centered cosmology inherited from antiquity.