  Stairs are common building structures in urban environments, and stair
detection is an important part of environment perception for autonomous mobile
robots. Most existing algorithms have difficulty combining the visual
information from binocular sensors effectively and ensuring reliable detection
at night and in the case of extremely fuzzy visual clues. To solve these
problems, we propose a neural network architecture with RGB and depth map
inputs. Specifically, we design a selective module, which can make the network
learn the complementary relationship between the RGB map and the depth map and
effectively combine the information from the RGB map and the depth map in
different scenes. In addition, we design a line clustering algorithm for the
postprocessing of detection results, which can make full use of the detection
results to obtain the geometric stair parameters. Experiments on our dataset
show that our method can achieve better accuracy and recall compared with
existing state-of-the-art deep learning methods, which are 5.64% and 7.97%,
respectively, and our method also has extremely fast detection speed. A
lightweight version can achieve 300 + frames per second with the same
resolution, which can meet the needs of most real-time detection scenes.
