The period saw several important technical innovations, like the principle of linear perspective found in the work of Masaccio, and later described by Brunelleschi. Greater realism was also achieved through the scientific study of anatomy, championed by artists like Donatello. This can be seen particularly well in his sculptures, inspired by the study of classical models. As the centre of the movement shifted to Rome, the period culminated in the High Renaissance masters da Vinci, Michelangelo and Raphael.