Between 20 and 30 people were on board the bus that was seized near the border area of Koza and driven towards the Nigerian border 18km away.
Meanwhile, Boko Haram attacked the village of Kerawa, resulting in several militants being killed, and around 10 Cameroonian soldiers reported injured.
In a separate incident, Boko Haram fighters attacked Kolofata, looting food and livestock.
