I just ran into the same issue using Linphone SIP to call an RtpEndpoint ... audio and video both define a payload type number 96. Seems like this is a non-standard way of building the SDP offer. Not sure if it's Kurento or Linphone that's at fault. Maybe the correct way is buried somewhere in https://www.ietf.org/rfc/rfc3264.txt

If I take the sdpOffer and replace with a unique payload type number before processing the offer, linphone can understand and Kurento does accept and process the video.
sdpOffer = sdpOffer.replace("m=video 9078 RTP/AVP 96", "m=video 9078 RTP/AVP 100");
sdpOffer = sdpOffer.replace("a=rtpmap:96 VP8/90000", "a=rtpmap:100 VP8/90000");
String sdpAnswer = rtpEndpoint.processOffer(sdpOffer);
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