The five classical planets of the Solar System, being visible to the naked eye, have been known since ancient times and have had a significant impact on mythology, religious cosmology, and ancient astronomy. In ancient times, astronomers noted how certain lights moved across the sky, as opposed to the " fixed stars ", which maintained a constant relative position in the sky. Ancient Greeks called these lights πλάνητες ἀστέρες (planētes asteres) ' wandering stars ' or simply πλανῆται (planētai) ' wanderers ' from which today's word "planet" was derived. In ancient Greece, China, Babylon, and indeed all pre-modern civilizations, it was almost universally believed that Earth was the center of the Universe and that all the "planets" circled Earth. The reasons for this perception were that stars and planets appeared to revolve around Earth each day and the apparently common-sense perceptions that Earth was solid and stable and that it was not moving but at rest.