Knowledge of the location of Earth has been shaped by 400 years of telescopic observations, and has expanded radically since the start of the 20th century. Initially, Earth was believed to be the center of the Universe, which consisted only of those planets visible with the naked eye and an outlying sphere of fixed stars. After the acceptance of the heliocentric model in the 17th century, observations by William Herschel and others showed that the Sun lay within a vast, disc-shaped galaxy of stars. By the 20th century, observations of spiral nebulae revealed that the Milky Way galaxy was one of billions in an expanding universe, grouped into clusters and superclusters. By the end of the 20th century, the overall structure of the visible universe was becoming clearer, with superclusters forming into a vast web of filaments and voids. Superclusters, filaments and voids are the largest coherent structures in the Universe that we can observe. At still larger scales the Universe becomes homogeneous, meaning that all its parts have on average the same density, composition and structure.