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I guess you are using the default move_base configuration, that only calls conservative clear costmap that cleans costmaps only further than 3 meter from your robot. You can also include the aggressive version, that clears costmaps from 0 meters (so full costmaps). Add something like this to your move_base.yaml:

recovery_behaviors:
  - name: 'conservative_reset'
    type: 'clear_costmap_recovery/ClearCostmapRecovery'
  - name: 'aggressive_reset'
    type: 'clear_costmap_recovery/ClearCostmapRecovery'

conservative_reset:
  reset_distance: 3.0

aggressive_reset:
  reset_distance: 0.0

But I don't think this will work neither, because the lower door is farther than 3 meters from the robot and still not cleared!

What will surely work is to call clear_costmaps move_base's service, that will reset both local and global costmaps.