For developers who want to write robotic applications on the Android platform, or who want to extend their robot with new sensors for indoor positioning and 3D perception, Intermodalics
created the ROS Streamer App for Tango.
This Android app for Tango compatible devices provides real-time 3D pose estimates using Tango’s visual-inertial odometry (VIO) algorithms, camera images and point clouds into the ROS ecosystem. The code is freely available for download on Github
. More information can be found on the ROS wiki page