In recent years, several noteworthy large, cross-domain and openly available knowledge graphs (KGs) have been created. These include DBpedia, Freebase, OpenCyc, Wikidata, and YAGO. Although extensively in use, these KGs have not been subject to an in-depth comparison so far. In this survey, we provide data quality criteria according to which KGs can be analyzed and analyze and compare the above mentioned KGs. Furthermore, we propose a framework for finding the most suitable KG for a given setting.