Scientific theory
In 1905, Albert Einstein published the principle of special relativity, which soon became a theory. Special relativity predicted the alignment of the Newtonian principle of Galilean invariance, also termed "Galilean relativity", with the electromagnetic field. By omitting from special relativity the luminiferous aether, Einstein stated that time dilation and length contraction measured in an object in relative motion is inertial—that is, the object exhibits constant velocity, which is speed with direction, when measured by its observer. He thereby duplicated the Lorentz transformation and the Lorentz contraction that had been hypothesized to resolve experimental riddles and inserted into electrodynamic theory as dynamical consequences of the aether's properties. An elegant theory, special relativity yielded its own consequences, such as the equivalence of mass and energy transforming into one another and the resolution of the paradox that an excitation of the electromagnetic field could be viewed in one reference frame as electricity, but in another as magnetism.
Hermann Minkowski
By 1907 Minkowski realized that the special theory of relativity, introduced by his former student Albert Einstein in 1905 and based on the previous work of Lorentz and Poincaré, could best be understood in a four-dimensional space, since known as the "Minkowski spacetime", in which time and space are not separated entities but intermingled in a four-dimensional space–time, and in which the Lorentz geometry of special relativity can be effectively represented using the invariant interval formula_1 (see History of special relativity).