Least squares quantization in PCM. Lloyd, S. IEEE Transactions on Information Theory, 28(2):129–137, March, 1982.
Least squares quantization in PCM [link]Paper  doi  bibtex   
@article{lloyd_least_1982,
	title = {Least squares quantization in {PCM}},
	volume = {28},
	copyright = {https://ieeexplore.ieee.org/Xplorehelp/downloads/license-information/IEEE.html},
	issn = {0018-9448, 1557-9654},
	url = {https://ieeexplore.ieee.org/document/1056489/},
	doi = {10.1109/TIT.1982.1056489},
	number = {2},
	urldate = {2025-10-10},
	journal = {IEEE Transactions on Information Theory},
	author = {Lloyd, S.},
	month = mar,
	year = {1982},
	pages = {129--137},
}

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