Detroit police received a 911 call around 8 p.m. Wednesday from a truck driver who claimed that he saw the two men in their Ninja outfits in a car driving along I-75 in Detroit. He told police that the men were pointing a gun at other cars.

Police caught the men on surveillance video from a squad car.

"You have two people out in broad daylight in full ninja suits, who you believe have a firearm in the vehicle, and the passenger appeared to be waving out the car at us when we were behind them," Michigan State Police Trooper Paul Gonyeau said.

Michigan State Police and Detroit Police were able to pull the men over, surrounding the vehicle and forced them out at gunpoint. The freeway was closed while police investigated.

The two men -- ages 20 and 21 -- are from Gaylord. They told Local 4 Thursday that they were martial arts buffs and had just purchased about $230 in ninja gear. The men said they were on headed downriver to show their outfits to family members, the station reported.

The men said that they had a martial arts sword that one of them played around with in the car, but no gun was found. The men accused police of overreacting.

Police arrested the men, but they were later released. They will not face charges, the station reported.