The armed robbery was reported shortly before 12 p.m. in the 6700 block of Reseda Boulevard, just south of Vanowen Street, a spokesperson for the Los Angeles Police Department said.
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The suspects were described as two men wearing painters' jumpsuits, the LAPD said. An undisclosed amount of money was stolen, along with a Brink's guard's gun.
No injuries were reported.
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Video from AIR7 HD showed the armored truck parked outside a Taco Bell restaurant.
Sometime after the robbers fled the scene, the stolen sedan that had been used in the heist was found abandoned less than half a mile away, near the intersection of Etiwanda Avenue and Kittridge Street. The suspects remained at large.