The extremal sparsity conjecture for minimally globally rigid graphs

Let $d$ be a positive integer and let $G=(V,E)$ be a graph on at least $d+2$ vertices that is minimally globally rigid in $\mathbb{R}^d$. The extremal sparsity conjecture.

$$|E|\leq (d+1)|V|-\binom{d+2}{2}$$

and the minimum degree of $G$ is at most $2d+1$. This conjecture concerns sharp sparsity bounds for minimally globally rigid graphs; the paper's abstract and introduction state that it is answered affirmatively, so its database status is solved.