AngularJS - SEO - S3 Static Pages

Yes PhantomJS would do the trick or you can use prerender.io with that service you can just use their open source renderer and have your own server.

Another way is to use _escaped_fragment_ meta tag

I hope this helps, if you have any questions add comments and I will update my answer.

Do you know that google renders html pages and executes javascript code in the page and does not need any pre-rendering anymore?
https://webmasters.googleblog.com/2014/05/understanding-web-pages-better.html

And take a look at these :
http://searchengineland.com/tested-googlebot-crawls-javascript-heres-learned-220157
http://wijmo.com/blog/how-to-improve-seo-in-angularjs-applications/

My project front-end also has biult on top of Angular and I decieded to solve SEO issue like this:

1. I've created an endpiont for all search engines (SE) where all the requests go with _escaped_fragment_ parameter;

2. I parse a HTTP Request for _escaped_fragment_ GET parameter;

3. I make cURL request with parsed category and article parameters and get the article content;

4. Then I render a simpliest (and seo friendly) template for SE with the article content or throw a 404 Not Found Exception if article does not exists;

In total: I do not need to prerender some html pages or use prrender.io, have a nice user interface for my users and Search Engines index my pages very well.

P.S. Do not forget to generate sitemap.xml and include there all urls (with _escaped_fragment_) wich you want to be indexed.

P.P.S. Unfortunately my project's back-end has built on top of php and can not show you suitable example for you. But if you want more explanations do not hesitate to ask.