"When officers arrived on scene they located an adult male victim who had been hit by a vehicle".
The department said its Fatal Accident Crash Team was investigating.
The driver of the vehicle remained at the scene and the accident is still under investigation, police added.
After a comprehensive defeat by Felix Trinidad in 1999, Whitaker fought on before finally retiring following a loss to lightly regarded journeyman Carlos Bojorquez in April 2001. He won the gold medal at the 1984 Olympics in the lightweight division.
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Some protesters and residents parked upstairs in Sha Tin Centre and Lucky Plaza threw rubbish at the officers on the ground floor. Speaking early yesterday morning, Mr Lo vowed to follow up investigations "to the very end" to bring those behind it to justice.
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Whitaker's career was defined by being on the wrong end of several controversial decisions.
From 1993 to 1997 he was considered the #1 pound-for-pound fighter in the world. Several publications, including Sports Illustrated, wrote opinion pieces about why Whitaker deserved the win. Whitaker won the fight. "Sweet Pea" famously started boxing at age 9 and had an extensive amateur career prior to compiling a stellar professional record of 40-4-1 with 17 knockouts.
He went on to become a boxing coach who helped inspire athletes in his hometown of Virginia Beach. Ring Magazine named him the Fight of the Year in 1989.
Whitaker married Rovanda Anthony in the boxing ring at Virginia Beach Pavilion Convention Center in December 1985. Whitaker, now a professional boxing trainer, left behind four children. He also had another daughter from a previous relationship. A year following his retirement, he was convicted of cocaine possession.