Another police official, Mohammed Nazir, said around 20 people were injured in Thursday's blast.
TV footage from the scene showed pieces of a charred motorbike lying on the ground, as well as a damaged white bus, yellow car and white van. Shattered glass littered the road.
Rawalpindi is a garrison city and the headquarters of the Pakistani military. It lies about 7 miles (12 kilometers) from the capital, Islamabad.
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