<s>
Tango	B-Algorithm
(	O
formerly	O
named	O
Project	B-Algorithm
Tango	I-Algorithm
,	O
while	O
in	O
testing	O
)	O
was	O
an	O
augmented	B-General_Concept
reality	I-General_Concept
computing	B-Device
platform	I-Device
,	O
developed	O
and	O
authored	O
by	O
the	O
Advanced	B-Application
Technology	I-Application
and	I-Application
Projects	I-Application
(	O
ATAP	B-Application
)	O
,	O
a	O
skunkworks	O
division	O
of	O
Google	B-Application
.	I-Application
</s>
<s>
It	O
used	O
computer	B-Application
vision	I-Application
to	O
enable	O
mobile	B-Application
devices	I-Application
,	O
such	O
as	O
smartphones	B-Application
and	O
tablets	B-Device
,	O
to	O
detect	O
their	O
position	B-Architecture
relative	O
to	O
the	O
world	O
around	O
them	O
without	O
using	O
GPS	O
or	O
other	O
external	O
signals	O
.	O
</s>
<s>
This	O
allowed	O
application	O
developers	O
to	O
create	O
user	O
experiences	O
that	O
include	O
indoor	B-Device
navigation	I-Device
,	O
3D	O
mapping	O
,	O
physical	O
space	O
measurement	O
,	O
environmental	O
recognition	O
,	O
augmented	B-General_Concept
reality	I-General_Concept
,	O
and	O
windows	O
into	O
a	O
virtual	B-Application
world	I-Application
.	O
</s>
<s>
The	O
first	O
product	O
to	O
emerge	O
from	O
ATAP	B-Application
,	O
Tango	B-Algorithm
was	O
developed	O
by	O
a	O
team	O
led	O
by	O
computer	O
scientist	O
Johnny	O
Lee	O
,	O
a	O
core	O
contributor	O
to	O
Microsoft	O
's	O
Kinect	B-Algorithm
.	O
</s>
<s>
Google	B-Application
produced	O
two	O
devices	O
to	O
demonstrate	O
the	O
Tango	B-Algorithm
technology	O
:	O
the	O
Peanut	O
phone	O
and	O
the	O
Yellowstone	O
7-inch	O
tablet	B-Device
.	O
</s>
<s>
More	O
than	O
3,000	O
of	O
these	O
devices	O
had	O
been	O
sold	O
as	O
of	O
June	O
2015	O
,	O
chiefly	O
to	O
researchers	O
and	O
software	O
developers	O
interested	O
in	O
building	O
applications	B-Application
for	O
the	O
platform	O
.	O
</s>
<s>
In	O
the	O
summer	O
of	O
2015	O
,	O
Qualcomm	O
and	O
Intel	O
both	O
announced	O
that	O
they	O
were	O
developing	O
Tango	B-Algorithm
reference	O
devices	O
as	O
models	O
for	O
device	O
manufacturers	O
who	O
use	O
their	O
mobile	O
chipsets	B-Device
.	O
</s>
<s>
At	O
CES	O
,	O
in	O
January	O
2016	O
,	O
Google	B-Application
announced	O
a	O
partnership	O
with	O
Lenovo	O
to	O
release	O
a	O
consumer	O
smartphone	B-Application
during	O
the	O
summer	O
of	O
2016	O
to	O
feature	O
Tango	B-Algorithm
technology	O
marketed	O
at	O
consumers	O
,	O
noting	O
a	O
less	O
than	O
$500	O
price-point	O
and	O
a	O
small	O
form	O
factor	O
below	O
6.5	O
inches	O
.	O
</s>
<s>
At	O
the	O
same	O
time	O
,	O
both	O
companies	O
also	O
announced	O
an	O
application	O
incubator	O
to	O
get	O
applications	B-Application
developed	O
to	O
be	O
on	O
the	O
device	O
on	O
launch	O
.	O
</s>
<s>
On	O
15	O
December	O
2017	O
,	O
Google	B-Application
announced	O
that	O
they	O
would	O
be	O
ending	O
support	O
for	O
Tango	B-Algorithm
on	O
March	O
1	O
,	O
2018	O
,	O
in	O
favor	O
of	O
ARCore	B-Algorithm
.	O
</s>
<s>
Tango	B-Algorithm
was	O
different	O
from	O
other	O
contemporary	O
3D-sensing	O
computer	B-Application
vision	I-Application
products	O
,	O
in	O
that	O
it	O
was	O
designed	O
to	O
run	O
on	O
a	O
standalone	O
mobile	O
phone	O
or	O
tablet	B-Device
and	O
was	O
chiefly	O
concerned	O
with	O
determining	O
the	O
device	O
's	O
position	B-Architecture
and	I-Architecture
orientation	I-Architecture
within	O
the	O
environment	O
.	O
</s>
<s>
Together	O
,	O
these	O
generate	O
data	O
about	O
the	O
device	O
in	O
"	O
six	O
degrees	O
of	O
freedom	O
"	O
(	O
3	O
axes	O
of	O
orientation	O
plus	O
3	O
axes	O
of	O
position	B-Architecture
)	O
and	O
detailed	O
three-dimensional	O
information	O
about	O
the	O
environment	O
.	O
</s>
<s>
Applications	B-Application
on	O
mobile	B-Application
devices	I-Application
use	O
Tango	B-Algorithm
's	O
C	B-Language
and	O
Java	B-Language
APIs	B-Application
to	O
access	O
this	O
data	O
in	O
real	O
time	O
.	O
</s>
<s>
In	O
addition	O
,	O
an	O
API	B-Application
was	O
also	O
provided	O
for	O
integrating	O
Tango	B-Algorithm
with	O
the	O
Unity	B-Application
game	I-Application
engine	I-Application
;	O
this	O
enabled	O
the	O
conversion	O
or	O
creation	O
of	O
games	O
that	O
allow	O
the	O
user	O
to	O
interact	O
and	O
navigate	O
in	O
the	O
game	O
space	O
by	O
moving	O
and	O
rotating	O
a	O
Tango	B-Algorithm
device	O
in	O
real	O
space	O
.	O
</s>
<s>
These	O
APIs	B-Application
were	O
documented	O
on	O
the	B-Application
Google	I-Application
developer	O
website	O
.	O
</s>
<s>
Tango	B-Algorithm
enabled	O
apps	B-Application
to	O
track	O
a	O
device	O
's	O
position	B-Architecture
and	I-Architecture
orientation	I-Architecture
within	O
a	O
detailed	O
3D	O
environment	O
,	O
and	O
to	O
recognize	O
known	O
environments	O
.	O
</s>
<s>
This	O
allowed	O
the	O
creations	O
of	O
applications	B-Application
such	O
as	O
in-store	O
navigation	O
,	O
visual	O
measurement	O
and	O
mapping	O
utilities	O
,	O
presentation	O
and	O
design	O
tools	O
,	O
and	O
a	O
variety	O
of	O
immersive	O
games	O
.	O
</s>
<s>
At	O
Augmented	O
World	O
Expo	O
2015	O
,	O
Johnny	O
Lee	O
demonstrated	O
a	O
construction	O
game	O
that	O
builds	O
a	O
virtual	O
structure	O
in	O
real	O
space	O
,	O
an	O
AR	B-General_Concept
showroom	O
app	O
that	O
allows	O
users	O
to	O
view	O
a	O
full-size	O
virtual	O
automobile	O
and	O
customize	O
its	O
features	O
,	O
a	O
hybrid	O
Nerf	O
gun	O
with	O
mounted	O
Tango	B-Algorithm
screen	O
for	O
dodging	O
and	O
shooting	O
AR	B-General_Concept
monsters	O
superimposed	O
on	O
reality	O
,	O
and	O
a	O
multiplayer	O
VR	B-Application
app	O
that	O
lets	O
multiple	O
players	O
converse	O
in	O
a	O
virtual	B-Application
space	I-Application
where	O
their	O
avatar	B-Application
movements	O
match	O
their	O
real-life	O
movements	O
.	O
</s>
<s>
Tango	B-Algorithm
apps	B-Application
are	O
distributed	O
through	O
Play	B-Application
.	O
</s>
<s>
Google	B-Application
has	O
encouraged	O
the	O
development	O
of	O
more	O
apps	B-Application
with	O
hackathons	O
,	O
an	O
app	O
contest	O
,	O
and	O
promotional	O
discounts	O
on	O
the	O
development	O
tablet	B-Device
.	O
</s>
<s>
As	O
a	O
platform	O
for	O
software	O
developers	O
and	O
a	O
model	O
for	O
device	O
manufacturers	O
,	O
Google	B-Application
created	O
two	O
Tango	B-Algorithm
devices	O
.	O
</s>
<s>
"	O
Peanut	O
"	O
was	O
the	O
first	O
production	O
Tango	B-Algorithm
device	O
,	O
released	O
in	O
the	O
first	O
quarter	O
of	O
2014	O
.	O
</s>
<s>
It	O
was	O
a	O
small	O
Android	B-Application
phone	I-Application
with	O
a	O
Qualcomm	O
MSM8974	O
quad-core	O
processor	O
and	O
additional	O
special	O
hardware	O
including	O
a	O
fisheye	O
motion	O
camera	O
,	O
"	O
RGB-IR	O
"	O
camera	O
for	O
color	B-Algorithm
image	I-Algorithm
and	O
infrared	O
depth	O
detection	O
,	O
and	O
Movidius	O
Vision	B-General_Concept
processing	I-General_Concept
units	I-General_Concept
.	O
</s>
<s>
A	O
high-performance	O
accelerometer	O
and	O
gyroscope	B-Application
were	O
added	O
after	O
testing	O
several	O
competing	O
models	O
in	O
the	O
MARS	O
lab	O
at	O
the	O
University	O
of	O
Minnesota	O
.	O
</s>
<s>
Several	O
hundred	O
Peanut	O
devices	O
were	O
distributed	O
to	O
early-access	O
partners	O
including	O
university	O
researchers	O
in	O
computer	B-Application
vision	I-Application
and	O
robotics	O
,	O
as	O
well	O
as	O
application	O
developers	O
and	O
technology	O
startups	O
.	O
</s>
<s>
Google	B-Application
stopped	O
supporting	O
the	O
Peanut	O
device	O
in	O
September	O
2015	O
,	O
as	O
by	O
then	O
the	O
Tango	B-Algorithm
software	O
stack	O
had	O
evolved	O
beyond	O
the	O
versions	O
of	O
Android	B-Application
that	O
run	O
on	O
the	O
device	O
.	O
</s>
<s>
"	O
Yellowstone	O
"	O
was	O
a	O
7-inch	O
tablet	B-Device
with	O
full	O
Tango	B-Algorithm
functionality	O
,	O
released	O
in	O
June	O
2014	O
,	O
and	O
sold	O
as	O
the	O
Project	B-Algorithm
Tango	I-Algorithm
Tablet	B-Device
Development	O
Kit	O
.	O
</s>
<s>
As	O
of	O
May	O
27	O
,	O
2017	O
,	O
the	O
Tango	B-Algorithm
tablet	B-Device
is	O
considered	O
officially	O
unsupported	O
by	O
Google	B-Application
.	I-Application
</s>
<s>
In	O
May	O
2014	O
,	O
two	O
Peanut	O
phones	O
were	O
delivered	O
to	O
the	O
International	O
Space	O
Station	O
to	O
be	O
part	O
of	O
a	O
NASA	O
project	O
to	O
develop	O
autonomous	O
robots	B-Device
that	O
navigate	O
in	O
a	O
variety	O
of	O
environments	O
,	O
including	O
outer	O
space	O
.	O
</s>
<s>
The	O
soccer-ball-sized	O
,	O
18-sided	O
polyhedral	O
SPHERES	O
robots	B-Device
were	O
developed	O
at	O
the	O
NASA	O
Ames	O
Research	O
Center	O
,	O
adjacent	O
to	O
the	B-Application
Google	I-Application
campus	O
in	O
Mountain	O
View	O
,	O
California	O
.	O
</s>
<s>
Andres	O
Martinez	O
,	O
SPHERES	O
manager	O
at	O
NASA	O
,	O
said	O
"	O
We	O
are	O
researching	O
how	O
effective	O
 [ Tango's ] 	O
vision-based	O
navigation	O
abilities	O
are	O
for	O
performing	O
localization	O
and	O
navigation	O
of	O
a	O
mobile	O
free	O
flyer	O
on	O
ISS	O
.	O
</s>
<s>
It	O
incorporated	O
a	O
RealSense	O
ZR300	O
camera	O
which	O
had	O
optical	O
features	O
required	O
for	O
Tango	B-Algorithm
,	O
such	O
as	O
the	O
fisheye	O
camera	O
.	O
</s>
<s>
Lenovo	B-Application
Phab	I-Application
2	I-Application
Pro	I-Application
was	O
the	O
first	O
commercial	O
smartphone	B-Application
with	O
the	O
Tango	B-Algorithm
Technology	O
,	O
the	O
device	O
was	O
announced	O
at	O
the	O
beginning	O
of	O
2016	O
,	O
launched	O
in	O
August	O
,	O
and	O
available	O
for	O
purchase	O
in	O
the	O
US	O
in	O
November	O
.	O
</s>
<s>
The	O
Phab	B-Application
2	I-Application
Pro	I-Application
had	O
a	O
6.4	O
inch	O
screen	O
,	O
a	O
Snapdragon	B-Architecture
652	I-Architecture
processor	O
,	O
and	O
64	O
GB	O
of	O
internal	O
storage	O
,	O
with	O
a	O
rear	O
facing	O
16	O
Megapixels	O
camera	O
and	O
8	O
MP	O
front	O
camera	O
.	O
</s>
<s>
Asus	O
Zenfone	O
AR	B-General_Concept
,	O
announced	O
at	O
CES	O
2017	O
,	O
was	O
the	O
second	O
commercial	O
smartphone	B-Application
with	O
the	O
Tango	B-Algorithm
Technology	O
.	O
</s>
<s>
It	O
ran	O
Tango	B-Algorithm
AR	B-General_Concept
&	O
Daydream	B-Application
VR	I-Application
on	O
Snapdragon	B-Architecture
821	O
,	O
with	O
6GB	O
or	O
8GB	O
of	O
RAM	O
and	O
128	O
or	O
256GB	O
of	O
internal	O
memory	O
depending	O
on	O
the	O
configuration	O
.	O
</s>
