Ogmento was founded by my Super Ventures partner Ori Inbar. Ogmento became 
  FlyBy and the team there successfully built a VIO system on IOS leveraging an 
  add-on fish eye camera. This code-base was licenced to Google which became 
  the VIO system for Tango. Apple later bought FlyBy and the same codebase is 
  the core of ARKit VIO.

  ...

  I don’t have any hard insider confirmation on this, but I think the Metaio 
  codebase would have helped with the plane detection and probably helped with 
  the mapping/relocalization pieces of the visual tracker. FlyBy had by far the 
  best Inertial tracker on the market, and it’s this piece that makes ARKit 
  magic (instant stereo convergence & metric scale in particular).