Most commonly it's leakage of the electrolyte in the battery. It can be caused by overfilling the battery if you have the kind of battery that can be filled. However, since you aren't driving the car enough and it's the negative terminal, it's most likely caused by an undercharged battery from not driving it enough.It's also an old enough battery that it may be on the way out. It's funny, reference articles use the exact same words you did when describing corrosion on old (4-5 years) batteries--with a vengeance.
I'd first try using a charger to fully charge the battery and see what happens. If it quickly discharges and doesn't hold the charge, replace the battery. And if you're going to continue not driving the car, consider getting a battery tender.