Yes. They provide this in the R-CNN paper, "Compared to the multi-feature, non-linear kernel SVM approach, we achieve a large improvement in mAP, from 35.1% to 53.7% mAP, while also being much faster".

Also in the metrics provided in the paper, the best method was SegDPM had around 40.4% mAP. Beat it by a pretty large margin at its time.