The face-to-face battle between Google (GOOG) and Apple (AAPL) is heating up with the announcement that Google Talk will now include video and voice chat for Android phones.

Here’s how it will work.

Google plans to roll the service out initially to users of Nexus S devices in the coming weeks. Video-enabled Google Talk will be part of an upcoming Android 2.3.4 over-the-air update.

Stay tuned for more news and analysis of Google’s new video chat capabilities in the days and weeks ahead.