The footage shows a man in a ski mask and black hoodie get out of an Acura sedan and approach the driver's side of Guerrero's Dodge Durango, pointing a 10mm handgun at her. When Guerrero unlocks the doors, the man climbs into the rear driver's-side door.
Detectives with the Seminole County Sheriff's Office say the man climbed into the passenger seat before Guerrero resumed driving, while another man trailed behind them in the Acura sedan.
Remains believed to be Guerrero's were found in a badly charred car hours later, and police continue to hunt for the suspects in the brutal killing.
Katherine Altagracia Guerrero De Aguasvivas, 31, is presumed dead following an abduction at a Central Florida intersection on April 11
Video shows a man in a skin mask climb out of a green Acura behind Guerrero's car and point a handgun at her before climbing into the back driver's-side door
Investigators believe the suspect ordered Guerrero to drive to a construction site, where a badly burnt vehicle was found later that day with a body inside
Speaking at a press conference on Saturday, Sheriff Dennis M. Lemma said he was appalled by the footage.
'It is incredibly frightening to watch the boldness of this suspect, this perpetrator getting out of the car, wearing a hood, carrying a weapon in broad daylight, getting in the vehicle,' Lemma said.
In a 911 call released by the sheriff's office, the witness urges, 'You need to do something now because I don't know what's going on.'
Less than two hours after the carjacking, police received reports of gunshots and smoke in Oceola County.
A badly charred vehicle, believed to be the Dodge Durango, was found at a construction site. While the body inside has yet to undergo formal DNA identification, police believe it is Guerrero.
A dozen 10mm shell casings and one projectile were also found at the scene.
'There is no clear indicator why somebody would do this,' Lemma said. 'But we do feel and believe...that this was not a random act of violence. The perpetrators knew exactly who they were going after, why they were going after them.'
Guerrero hailed from the Dominican Republic and was a United States citizen. She lived with her husband in the Miami suburb of Homestead, where the pair worked at a barbershop and beauty salon.
The carjacking occurred just four days before her 32nd birthday.
