With the Semantic Web data standards defined, more applications demand inference engines in providing support for intelligent processing of the Semantic Web data. Rule-based inference engines or rule-based reasoners are used in many domains, such as in clinical support, and e-commerce recommender system development. This article reviews and compares key features of three freely-available rule-based reasoners: Jena inference engine, Euler YAP Engine, and BaseVISor. A performance evaluation study was conducted to assess the scalability and efficiency of these systems using data and rule sets adapted from the Berlin SPARQL Benchmark. We describe our methodology in assessing rule-based reasoners based on the benchmark. The study result shows the efficiency of the systems in performing reasoning tasks over different data sizes and rules involving various rule properties. The review and comparison results can provide a basis for users in choosing appropriate rule-based inference engines to match their application requirements.