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This correspondence deals with the construction of minimum Euclidean distance precoders for multiple-input multiple-output (MIMO) systems with up to four transmit antennas. By making use of a state-of-the-art technique for optimization over the unitary group, we can numerically optimize the MIMO precoders. The correspondence then proceeds by identifying the obtained precoders as well-known lattices (square Z2, Schläfli D4, D6, Gosset E8). With three transmit antennas, the results are slightly different compared with other numbers of transmit antennas since the obtained precoder is not an instance of the densest 6-dimensional lattice. The overall conclusions of the correspondence are that the found precoders for MIMO transmission are highly structured and that, even with small constellations, lattice theory can be used for the design of MIMO precoders.