Efficient construction of 3D-Gaussian clusters and elevation maps for autonomous mobile robot navigation in non-planar environments. - Junya Shiraishi; Yuji Nagamatsu; Sarah Ichikawa; Tomoya Tanaka; Ryosuke Idenuma; Masaru Usui; Daisuke Kataoka; Masaki Wakabayashi (Adv. Robotics, 2025)