Task: Paper Review
Input (Spanish, English): Review_1: Revisar la redacción del documento, en varios sitios dice "en base a" debe ser "con base en"  Error tipográfico en la figura 3  En la página 4 antes del subtitulo "Modelo de movimiento" dice del modelo de medida, creo que se refiere al  modelo de medición  Estimo conveniente resaltar cuales son las ventajas del modelo propuesto, tal como esta no es atractivo indican una diferencia con respecto a la referencia entre 7 y 5 cms, esto es  una desviación considerable. Además indica dentro de las desventajas que no es aceptable para trabajar en aplicaciones reales. Sino es así entonces para qué es útil? Review_2: This work gives expected results and creates a structure for further research. I would suggest in addition of compass the use of radio waves for improving localization (WiFi for indoor and GPS for outdoor). In addition, there are some low cost platforms in the market that can be used and study, as for example Ardupilot or other similar systems. I was unable to see clearly enough, in the paper, the use of the camera; algorithms, environment settings, etc.; used for following robot. In Figure 7, it seems that camera trajectory is worse than that calculated with odometry, perhaps due to orientation error, but in my opinion it is not very clear during reading. Finally, I would suggest think if is it there some possible feedback of EKF results to odometry in order to reduce its error. 
Output (English): accept