Baker held that office until 2002 when he lost to current-Sheriff Donnie Harrison by 2,200 votes.
The resolution praises Baker as "an innovator in law enforcement" for modernizing the sheriff's office, creating its first homicide unit and a voluntary firearm registration system.
It also cites Baker's "legacy of firsts," as the first black person to be appointed to the state Parole Board. Baker's father was also Raleigh's first black police officer.
Baker helped secure $56 million in funding for the public-safety center on Salisbury Street, which opened in 1991. It houses the sheriff's office, public safety department and county detention center.