The charges include six counts of kidnapping, five counts of robbery, four counts of sex abuse and two counts of rape.
In one incident, authorities say Walters is accused of ambushing a woman as she was getting into her car with her 3-year-old daughter on December 1, 2006. He allegedly put a gun to the child's head to force the mother to perform sexual acts.
Walters is being held without bail.
Walters was first arrested September 9, 2007, after police said he robbed a 43-year-old woman at gunpoint while she was waiting for a Hempstead bus. The woman summoned a nearby police officer, who chased Walters down as he left the robbery scene.
Walters was suspended in September.
He also had a brush with police in April 2006, when he shot and killed a man outside his home. Police say the man was trying to break into Walters' house, and Walters was not charged.
