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She was best known for convicting members of vigilante gangs and corrupt police officers.
The judge's family said she had received several death threats, but had not had a police escort.
Witnesses told AFP the gunmen intercepted the mother-of-three's car as she was arriving at home in Niteroi, just across Guanabara Bay from Rio de Janeiro.
They had fired at least 16 shots, killing the 47-year-old instantly, reports said. Her funeral service was held on Friday in Niteroi.
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"Cowardly crimes against magistrates are an attack on the independence of the judiciary, the state and Brazilian democracy," Supreme Court President Cezar Peluso said in a statement.
"The preservation of the rule of law in our country demands a rapid investigation of the facts and a rigorous punishment of those responsible for this barbarous act."
Rio has stepped up its campaign against violent crime ahead of hosting football's World Cup in 2014 and the Olympic Games in 2016, correspondents say.
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