Pike

This single seat vehicle has quickly been labeled by many as Destiny's equivalent of Halo's Ghost.

It's colors and curved shape give it an almost organic feel; like portions of the spider tank the ventral fin almost looks as if it is alive.

Jump seat not confirmed.

Traveler's Rest

The mysterious, spherical Traveler hovers above humanity's last city after saving them from destruction by alien forces.

The missing portions near the bottom of the sphere almost makes me think that humanity has in part built their city by removing pieces of metal from the Traveler.

As the huge, unknown artifact of Destiny, the Traveler would seem to be taking on the titular role in Halo.

Beneath-- and possibly reaching up towards-- the Traveler is the Tower, presumably a non-combat area where Guardian players will interact with each other.

Guardians

This image shows an example of each of the player classes so far revealed: the hooded Hunter, most likely a stealth-based class, the magic-wielding Warlock, and the gun-toting Titan.

It is not known if other player classes exist or will exist, or whether factions fall strictly along class lines or include members of all possible classes.

Fallen

This image was the first piece of concept art revealed after the first leak in November 2012.

It shows the enemy known as the Fallen. A spider tank trudges through the snow in the distance, and one of the figures appears to be shadowed by what might be a companion drone of some sort.

"Fallen" could also be seen as a reference to Bungie's RTS series, Myth. Myth's first title was Myth: The Fallen Lords.

Cassini Derelict

A spaceship, possibly human in origin, hangs below the rings of Saturn.

Destiny apparently takes place within humanity's home solar system. The lack of more distant locations would seem to indicate that humanity lacks faster than light travel in this universe at this point in time, definitely dividing it from the Halo universe, where humanity achieved FTL travel earlier.

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