Since time immemorial, the cosmos, in its magisterial splendor and inscrutable vastness, has held humanity in an exquisite spell of enchantment. Unraveling the mysteries concealed within its celestial curtain has remained, and continues to be, a relentless pursuit that continually fuels our collective imagination. This fascination stems from the innate human penchant for curiosity and discovery, the allure of the unknown, the primal instinct to expand our frontiers and map the uncharted territories of the universe.

Early civilizations, while lacking in our modern scientific comprehension, were no less captivated by the cosmos. They concocted mythologies and erected monumental structures that mirrored the stars, investing tremendous significance in celestial bodies. For instance, ancient Egyptians venerated the sun god, Ra, their pyramids reflecting the stars of Orion's belt, while the Chinese equated the heavens with the imperial celestial mandate, using intricate astronomy to calendarize agricultural activities.

Even the indigenous tribes of North America and Africa, distanced from these complex civilizations, developed sophisticated astronomical systems independently. For instance, the Dogon tribe in Mali demonstrated an astoundingly accurate knowledge of the Sirius system, attributing it to ancient astronauts, illuminating that human fascination with star-strewn frontiers transcends cultures and timelines.

In Greece, philosophers and proto-scientists like Aristotle, Hipparchus, and Ptolemy, laid the foundations of western astronomy, attempting to model the motion of celestial bodies. This intense gaze upward, a testament to human imagination, was reciprocated by the silent stars, igniting the collective curiosity of our species into a blazing flame. This interstellar preoccupation was not just limited to philosophy or religion. It was much more deep-rooted, stimulating developments in arithmetic, geometry, navigation, and time-keeping.

The trail of stardust also leads to the mysterious Mayan civilization in Central America, where they developed an elaborate calendrical system based on celestial movements, accurate even by modern standards. Their astral obsession culminated in erecting massive astronomical observatories like the El Caracol, indicating the immense socio-cultural significance of astronomy in pre-Columbian societies.

By absorbing the cosmos into their cultural matrix, these civilizations marked the beginning of humanity’s intimate and complex relationship with space. The wisdom gleaned by these ancient astronomers paved the way towards a more mechanistic understanding of the cosmos, marking the prelude to an era of systematic space exploration that was to follow centuries later.

As human civilization evolved, so did our understanding and interaction with the cosmos. The invention of telescopes in the 16th century was the primary instrumental breakthrough that facilitated closer observations of celestial bodies. Renaissance figures like Galileo Galilei and Johannes Kepler revolutionized the cosmological outlook through heliocentric theories and planetary laws which form the groundwork for modern astronomy.

Thus, from viewing constellations embedded in the black velvet of the cosmos, to marveling at formidable planets, we've come a long way. And yet, it remains a mere speck in the grand cosmic ocean, the abyss that awaits to be navigated, signaling our steps into the new era of the space age - a tale we will further unravel in the chapters to come.