Preview of Azure AD Conditional Access Policies for devices, users and applications

Recommend looking into this architecture documentation where you have a good description of the different settings. Intune is device based polices while Azure AD pivots on the identity and the service being accessed. With this new feature for device based access control Azure AD policy can be defined to look for a device, pc that is domain joined, registered or even compliant. The compliant setting requires that the device is enrolled and reported as in compliance by Intune. https://technet.microsoft.com/en-us/library/dn919927.aspx#mobility