As a bridge from virtuality to reality, Digital Twin has increased in popularity since proposed. Ideas have been proposed theoretical and practical for digital twins. From theoretical perspective, digital twin is fusion of data mapping between modalities; from practical point of view, digital twin is scenario implementation based on the Internet of Things and models. From these two perspectives, we explore the researches from idea to realization of digital twins and discuss thoroughly.

翻译：作为连接虚拟与现实的桥梁，数字孪生自提出以来日益受到关注。围绕数字孪生，研究者们从理论与实践两个维度提出了诸多构想。从理论层面看，数字孪生是不同模态间数据映射的融合；从实践层面看，数字孪生是基于物联网与模型的场景实现。基于这两个视角，本文探讨了数字孪生从理念到实现的研究历程，并进行了深入讨论。