The RDF graph-based data model has seen ever-broadening adoption in recent years, prompting the standardization of the SPARQL query language for RDF, and the development of local and distributed engines for processing SPARQL queries. This survey paper provides a comprehensive review of techniques, engines and benchmarks for querying RDF knowledge graphs. While other reviews on this topic tend to focus on the distributed setting, the main focus of the work is on providing a comprehensive survey of state-of-the-art storage, indexing and query processing techniques for efficiently evaluating SPARQL queries in a local setting (on one machine). To keep the survey self-contained, we also provide a short discussion on graph partitioning techniques used in the distributed setting. We conclude by discussing contemporary research challenges for further improving SPARQL query engines. An online extended version also provides a survey of over one hundred SPARQL query engines and the techniques they use, along with twelve benchmarks and their features.
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