A woman who was kidnapped from a deserted Philadelphia street Sunday was discovered alive, and her abductor was arrested Wednesday in Maryland. The entire capture of Carlesha Freeland-Gaither was captured on surveillance camera, authorities said.

The 22-year-old woman was found by Alcohol, Tobacco, Firearms and Explosives agents in a parked car in Jessup, Maryland. Law enforcement agents said her alleged abductor, Delvin Barnes, was arrested at the scene.

The special agent in charge of the Philadelphia FBI field office, Ed Hanko, said that tips reported from the public allowed investigators to "identify this individual, identify his car and track it into Maryland."

Officials told ABC News that Barnes' car was tracked by investigators via the GPS system installed in the vehicle.

Police said that once found, Freeland-Gaither was treated at a nearby hospital before being released.

Philadelphia Police Commissioner Charles Ramsey said in an interview Thursday that the video of the kidnapping "added a sense of urgency" to the case and recognized Freeland-Gaither's fighting spirit in her successful recovery.

"My understanding is that even after she was in the car and she was bound she continued to fight and struggle with this guy, so she's got a lot of fight in her, and that probably helped keep her alive," Ramsey said.

Barnes, 37, is being held on an outstanding attempted capital murder warrant issued for him in Virginia, though he will likely face federal charges once the investigation into Freeland-Gaither's case is finished.

There is no evidence that shows Barnes knew the victim before the kidnapping, according to officials.

A 16-year-old female was also abducted by Barnes off the street and found several days later, similar to what happened in Philadelphia, according to the Charles City County Sheriff's Office. This teenager did not know Barnes either.

"He's a thug, and this is what he does apparently," Ramsey said to the press Wednesday. "People like this, there's nothing that makes sense."

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