The planets were thought by Ptolemy to orbit the Earth in deferent and epicycle motions. Although the idea that the planets orbited the Sun had been suggested many times, it was not until the 17th century that this view was supported by evidence from the first telescopic astronomical observations, performed by Galileo Galilei. By careful analysis of the observation data, Johannes Kepler found the planets' orbits were not circular, but elliptical. As observational tools improved, astronomers saw that, like Earth, the planets rotated around tilted axes, and some shared such features as ice caps and seasons. Since the dawn of the Space Age, close observation by probes has found that Earth and the other planets share characteristics such as volcanism, hurricanes, tectonics, and even hydrology. Planets are generally divided into two main types: large, low-density gas giants, and smaller, rocky terrestrials. Under IAU definitions, there are eight planets in the Solar System. In order of increasing distance from the Sun, they are the four terrestrials, Mercury, Venus, Earth, and Mars, then the four gas giants, Jupiter, Saturn, Uranus, and Neptune. Six of the planets are orbited by one or more natural satellites. Additionally, the IAU accepts five dwarf planets, with many others under consideration, and hundreds of thousands of small Solar System bodies. Since 1992, hundreds of planets around other stars ("extrasolar planets" or "exoplanets") in the Milky Way have been discovered. As of 16 May 2013, 888 known extrasolar planets (in 693 planetary systems and 133 multiple planetary systems) are listed in the Extrasolar Planets Encyclopaedia, ranging in size from that of terrestrial planets similar to Earth to that of gas giants larger than Jupiter. On December 20, 2011, the Kepler Space Telescope team reported the discovery of the first Earth-sized extrasolar planets, Kepler-20e and Kepler-20f, orbiting a Sun-like star, Kepler-20. A 2012 study, analyzing gravitational microlensing data, estimates an average of at least 1.6 bound planets for every star in the Milky Way. Astronomers at the Harvard-Smithsonian Center for Astrophysics (CfA) reported in January, 2013, that "at least 17 billion" Earth-sized (i.e. 0.8–1.25 Earth masses) exoplanets with orbital periods of 85 days or less are estimated to reside in the Milky Way Galaxy.