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The evidential value of palmprints in forensics is clear as about 30% of the latents recovered from crime scenes are from palms. While palmprint-based personal authentication systems have been developed, they mostly deal with low resolution (about 100 ppi) palmprints and only perform full-to-full matching. We propose a latent-to-full palmprint matching system that is needed in forensics. Our system deals with palmprints captured at 500 ppi and uses minutiae as features. Latent palmprint matching is a challenging problem because latents lifted at crime scenes are of poor quality, cover small area of palms and have complex background. Other difficulties include the presence of many creases and a large number of minutiae in palmprints. A robust algorithm to estimate ridge direction and frequency in palmprints is developed. This facilitates minutiae extraction even in poor quality palmprints. A fixed-length minutia descriptor, MinutiaCode, is utilized to capture distinctive information around each minutia and an alignment-based matching algorithm is used to match palmprints. Two sets of partial palmprints (150 live-scan partial palmprints and 100 latents) are matched to a background database of 10,200 full palmprints to test the proposed system. Rank-1 recognition rates of 78.7% and 69%, respectively, were achieved for live-scan palmprints and latents.