The picture recently released by the government shows the princess and Mary Robinson smiling in what appears to be home.
It said: "The communique responds to and rebuts false allegations and provided evidence that Her Highness Sheikha Latifa was at home and living with her family in Dubai".
The pictures were released months after friends and supporters said she disappeared when commandos stormed her boat while she was trying to escape from Emirates. "Either I'm dead or I'm in a very very very bad situation", she said near the beginning of the 40-minute clip.
The 33-year-old had not previously been seen in public for more than nine months while her Instagram account had been closed down.
"Photographs taken during the afternoon they spent together have been shared, with their consent", the ministry said, according to The Guardian.
Human rights organisations have raised concerns over Sheikha Latifa's fate in the time since.
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Following Sheikha Latifa's disappearance, the UK-based advocacy group Detained in Dubai took up her case and alerted the United Nations human rights commission.
It was not straight away possible to validate details of the meeting with a spokesperson for Robinson, who served as the United Nations High Commissioner for Human Rights from 1997 to 2002. "She said it was worth taking any kind of risk as she had literally had enough of her life in Dubai", Jauhiainen told Sky News. "If she is only held for having tried to flee the country or for any other reason incompatible with human rights standards, she should be immediately and unconditionally released and her right to freedom of movement, including travel overseas, should be respected", Amnesty said in a statement.
The princess later attempted to flee her "gilded prison" with the help of Herve Jaubert, and her Finnish marital arts teacher.
The boat set sail for the Indian coast but was intercepted by three Indian and two Emirati warships.
Latifa's unusual case and the meticulous planning that went into her - her second attempt - were the subject of the BBC documentary Escape from Dubai earlier this month.
In the video, Latifa said: "Pretty soon I'm going to be leaving somehow and I'm not so sure of the outcome, but I'm 99 percent positive it will work".