# StairNet: Visual Recognition of Stairs for Human-Robot Locomotion

arXiv: https://arxiv.org/abs/2310.20666 · HTML: https://mlsanity.com/paper/2310.20666/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 11 of its 52 references that are in the map.
- First posted on arXiv 31 Oct 2023.

## Builds on (most cited first, 11 of 11)

- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [SGDR: Stochastic Gradient Descent with Warm Restarts](https://mlsanity.com/paper/1608.03983/) (2016)
- [MobileNetV2: Inverted Residuals and Linear Bottlenecks](https://mlsanity.com/paper/1801.04381/) (2018)
- [FixMatch: Simplifying Semi-Supervised Learning with Consistency and Confidence](https://mlsanity.com/paper/2001.07685/) (2020)
- [Ego4D: Around the World in 3,000 Hours of Egocentric Video](https://mlsanity.com/paper/2110.07058/) (2021)
- [Self-training with Noisy Student improves ImageNet classification](https://mlsanity.com/paper/1911.04252/) (2019)
- [Video Swin Transformer](https://mlsanity.com/paper/2106.13230/) (2021)
- [MobileViT: Light-weight, General-purpose, and Mobile-friendly Vision Transformer](https://mlsanity.com/paper/2110.02178/) (2021)
- [Meta Pseudo Labels](https://mlsanity.com/paper/2003.10580/) (2020)
- [NetScore: Towards Universal Metrics for Large-scale Performance Analysis of Deep Neural Networks for Practical On-Device Edge Usage](https://mlsanity.com/paper/1806.05512/) (2018)
- [Deep Leaning-Based Ultra-Fast Stair Detection](https://mlsanity.com/paper/2201.05275/) (2022)

## Abstract (arXiv)

Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical interactions, which can improve transitions to and from stairs. This motivated us to create the StairNet initiative to support the development of new deep learning models for visual sensing and recognition of stairs, with an emphasis on lightweight and efficient neural networks for onboard real-time inference. In this study, we present an overview of the development of our large-scale dataset with over 515,000 manually labeled images, as well as our development of different deep learning models (e.g., 2D and 3D CNN, hybrid CNN and LSTM, and ViT networks) and training methods (e.g., supervised learning with temporal data and semi-supervised learning with unlabeled images) using our new dataset. We consistently achieved high classification accuracy (i.e., up to 98.8%) with different designs, offering trade-offs between model accuracy and size. When deployed on mobile devices with GPU and NPU accelerators, our deep learning models achieved inference speeds up to 2.8 ms. We also deployed our models on custom-designed CPU-powered smart glasses. However, limitations in the embedded hardware yielded slower inference speeds of 1.5 seconds, presenting a trade-off between human-centered design and performance. Overall, we showed that StairNet can be an effective platform to develop and study new visual perception systems for human-robot locomotion with applications in exoskeleton and prosthetic leg control.