K-means algorithms are a specialization of the famous Lloyd I quantization algorithm for the case of empirical distributions. (see Lloyd)
It is proved that Lloyd's algorithm I gives a sequence of quantizers with decreasing quadratic distortion. However, with the exception of the special case of one-dimensional log-concave distributions, it does not always converge to a quadratic optimal quantizer. (For quantization errors, there are local minima, especially when working with an empirical distribution, i.e., for the clustering problem.)
A method that converges (always) to an optimal quantizer is the so-called CLVQ algorithms, which also generalize to the problem of more general quantization L ^ p. This is a kind of stochastic gradient method. (see Pagรจs)
There are also some approaches based on genetic algorithms. (see Hamida et al.) and / or classical optimization procedures for the one-dimensional case, which converges faster (Pagรจs, Printems).
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