Fremont police released body cam footage of police officer Brian Burch dodging gunfire from a man who tried to flee police in a suspected stolen car on March 24. Burch returned fire and struck the man, who is identified as Joshua Gloria. He died.

Police said Officer Brian Burch was performing traffic enforcement on his motorcycle when a license plate reader was activated by a stolen vehicle. The vehicle was driven by 34-year-old Joshua James Gloria, who was wanted in connection with an armed robbery in San Francisco.

Following the shooting, Fremont Police said in a statement that they received word from the San Jose Police Department that they had issued a warrant for Gloria’s arrest in connection with an attempted murder case at an illegal gambling parlor.

Police said last week that Burch is a six-year veteran of the Fremont Police Department and currently assigned to the department’s Traffic Unit.