Her belongings are packed in plastic bags that have also been placed at the bus stop.
Mr. Baraka, who said he was a psychotherapist and a student at the University of Maryland Medical Center Midtown Campus, noted it was 30 degrees when security left the woman outside.
"The hospital statement said it's evaluating an appropriate response, "including the possibility of personnel action".
He muses that the hospital staff should have perhaps committed her "until they are clear about what's happening".
The woman in the video was obviously very confused.
A regard of the woman shows her not wearing any shoes, only purple socks, and her loosely tied hospital gown appears to be falling off.
Imamu Baraka, identified in local reports as the person who sought to help the woman, told The Associated Press he was so angry he made a decision to record Tuesday night's events on cellphone video, fearing no one would believe him if he reported a woman being left at a bus stop like that. Baraka, who is listed as a mental health counselor in an online professional profile, attempts to speak to her, but she doesn't answer him. She was taken back to the hospital, he told HLN.
He added that the woman wasn't mistreated while in the hospital's care and that the incident was isolated and that hospital officials were working on an extensive internal review.
'Ya'll are okay with leaving that woman out there like that?' Baraka can be heard asking as they walk away. 'Ya'll are just going to leave this lady out here with no clothes on?'
The National Weather Service said the overnight temperature in Baltimore on Tuesday fell to the 20s Fahrenheit (minus 1 to minus 6 Celsius).
One of the men replies it was "due to the circumstances of what happened". 'This unfortunate event is not representative of our patient-centered mission.
Baraka has not responded to multiple requests for comment or posted an update on his Facebook page, but he gave a short interview to CBS Baltimore, saying he had just left his office across the street when he came upon the scene and began filming. I became ... irritated and fearful for the young lady.
"'UMMC will be known for providing high value and compassionate care, improving health in Maryland and beyond, educating future health care leaders and discovering innovative ways to advance medicine worldwide, '" he wrote, quoting the medical center's vision.
The hospital has issued a statement and an apology, and said the incident is being investigated.
"You're telling me no doctor or nurse or social worker asked where she was going?"
Addressing the medical center directly, Baraka said, "You can do better".