NEW ROCHELLE, N.Y. (CBSNewYork) — CBS2 has learned more about the man who was wanted in connection to the killing of a cab driver in Westchester County, the same man who got into a dangerous shootout with police in Brooklyn over the weekend.

As Nick Caloway reported Monday, the gunman was wanted by the FBI for crimes in multiple states.

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Surveillance video from Fort Greene shows Sunday’s shootout unfold. New Rochelle police and the FBI were tracking 52-year-old Percell Lamont Ross, who was wanted for murder, when they spotted him near a New York City Housing Authority apartment complex.

“He immediately drew a weapon, started running and firing at our officers,” New Rochelle police Capt. J. Collins Coyne said.

A police officer is seen on the video getting out of an unmarked car and returning fire. It turned into a barrage of bullets from officers and the suspect, sending people ducking for cover.

Police said Ross eventually surrendered when he ran out of ammunition.

“It was extremely important to get this guy off the street. He clearly had no remorse for the things he’s done,” Coyne said.

A .22 caliber revolver was recovered from the scene in Brooklyn. Investigators said it’s the same weapon Ross used to kill a cab driver more than 20 miles away in New Rochelle early last Thursday morning.

Andres Valenzuela, 62, was shot twice while parking his taxi in a parking lot, after completing his shift.

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“I knew the guy for a very long time and I know his family, his entire family. It’s sad,” cab driver Ruben Serrano said.

Friends, and fellow workers were stunned by the news. They said Valenzuela was always smiling and that he was a hard worker, sometimes driving a cab seven days a week. He also had a second job and was a husband and father of two.

Cabbies in the area said they are now relieved the alleged shooter is off the streets.

“I’m glad the police actually caught this monster, because that’s what he is. He is a monster,” Serrano said.

The accused killer is charged with homicide and is now in federal custody.

Prior to last week’s incident, Ross was a wanted fugitive, on the run from multiple states of charges of attempted murder and sex trafficking.

Police are still trying to figure out the motive for the shooting of the taxi driver in New Rochelle. They say it was possibly a robbery.

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CBS2’s Nick Caloway and Lisa Rozner contributed to this report.

CBSNewYork Team