Investigators identified the suspect as 31-year-old Anthony Cifuentes, according to the San Bernardino County Sheriff's Department.
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According to the agency, Cifuentes was recorded on surveillance video standing over the homeowners as they slept during the February burglary.
MORE: Burglar seen on video in San Bernardino apartment while residents sleep nearby: 'It was horrifying'
Burglar seen on video in San Bernardino apartment while victims sleep
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As part of the investigation into the break-in, authorities say DNA evidence has now linked Cifuentes to a sexual assault case.
He was arrested in April and is facing charges of rape, assault with the intent commit rape and two counts of burglary charges, the Sheriff's Department said.