Former world heavyweight boxing champion Joe Frazier has died. He was 67. Frazier had been diagnosed with cancer just weeks ago. His family said Frazier died after a brief battle with liver cancer. Joe Frazier was the first to beat Muhammad Ali in 1971, but lost his next two bouts with Ali. He held the world title between 1970 and 1973. Frazier won an Olympic gold medal in 1964 after going to the Games as a replacement for Buster Mathis, who had beaten him in the trials but could not attend the Games due to an injury. He won the heavyweight title in 1970 by defeating Jimmy Ellis in New York. Three years later he lost the title to George Foreman.