Television images showed the front of a passenger bus crushed by the overpass, which was located about two miles (3 km) from the Mineirao Stadium where World Cup games are being played. Other vehicles were also crushed underneath the wreckage, officials said.
"We were traveling normally and then there was a terrible noise," Renata Soares, who said she was on the bus at the moment of the accident, told GloboNews TV. "I am sure that more people in other cars were underneath the debris."
A fire department spokesman said there was still one person trapped in a car, and possibly more.
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