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Officials said a witness spotted the serval wandering near Shizuoka Heliport, more than half a mile from its owner's home, and alerted authorities.
The cat was safely captured without injury.
Officials said the serval's owner told authorities the cat had been acting agitated and escaped when the owner opened its cage to check on it.
Servals require permits to be kept in the city, officials said. It was unclear whether the cat's owner had a permit for the animal or whether it would be returned to the owner.