An Independence policeman pulled over a red car that matched one from a March 2011 bank heist.
The dash cam video shows the scary situation that happens next - a man gets out of the car with a gun and begins firing.
The video captures the shootout.
"Get back, he's got a gun" followed by "Shots fired, shots fired, shots fired" can be heard over the video's audio.
It took less than 30 seconds from the stop until the suspect took his own life. The traffic stop was made on I-70 just east of U.S. 291 in front of the Bass Pro Shops.
"You don't want to approach any violator or any stop with the assumption of guilt but, by the same token, you have to have sufficient guard up and mental preparation should something go to that next level because you do never know," said Independence Police Department Capt. John Cato.
Cato plans to use the videos as a training tool for his officers.
He said the day-to-day work an officer does, like a vehicle stop or pedestrian check, can turn dangerous in a heartbeat.
"I think one of the worst things any officer can do that we try to avoid is to allow anything to become routine," Cato said.
The Jackson County Medical Examiner's Office ruled the suspected bank robber's death a suicide.
As a result, the Jackson County Prosecutor considers the case closed.