Yes, Tesla is taking an incremental approach to releasing the feature sets that are required to have a fully autonomous vehicle, but no, the end product goals for Tesla and Google are not different in kind.
What certainly is different is the manufacturing approach the two companies are taking. Google is seemingly aiming to release a fully autonomous vehicle at version 1.0, meaning every system of the car, such as manufacturing process, sales, customer support, will be at version 1.0 at the same time. In contrast, when Tesla releases its version 1.0 of the fully autonomous driving feature set, they will already have very matured versions of the other components, such as their manufacturing process, battery and drive train technology, sales and marketing, customer support, etc.
Plus, the Google cars look like something one buys for their four year old niece or nephew.