diff --git a/cpp/open3d/t/geometry/RaycastingScene.cpp b/cpp/open3d/t/geometry/RaycastingScene.cpp
index b06d6211752..4774beeafa4 100644
--- a/cpp/open3d/t/geometry/RaycastingScene.cpp
+++ b/cpp/open3d/t/geometry/RaycastingScene.cpp
@@ -868,13 +868,14 @@ RaycastingScene::ListIntersections(const core::Tensor& rays,
 
     // generate results structure
     std::unordered_map<std::string, core::Tensor> result;
-    result["ray_splits"] = core::Tensor({cumsum.size() + 1}, core::UInt32);
+    shape[0] = shape[0] + 1;
+    result["ray_splits"] = core::Tensor(shape, core::UInt32);
     uint32_t* ptr = result["ray_splits"].GetDataPtr<uint32_t>();
     ptr[0] = 0;
     for (int i = 1; i < cumsum.size() + 1; ++i) {
         ptr[i] = cumsum[i - 1];
     }
-    shape = {intersections_vector.sum()};
+    shape[0] = intersections_vector.sum();
     result["ray_ids"] = core::Tensor(shape, core::UInt32);
     result["geometry_ids"] = core::Tensor(shape, core::UInt32);
     result["primitive_ids"] = core::Tensor(shape, core::UInt32);
diff --git a/python/test/t/geometry/test_raycasting_scene.py b/python/test/t/geometry/test_raycasting_scene.py
index d89fdc404b3..9b930a877da 100644
--- a/python/test/t/geometry/test_raycasting_scene.py
+++ b/python/test/t/geometry/test_raycasting_scene.py
@@ -150,7 +150,7 @@ def test_list_intersections():
     ans = scene.list_intersections(rays)
 
     np.testing.assert_allclose(ans['t_hit'].numpy(),
-                               np.array([[1.0], [2.0], [0.5]]),
+                               np.array([1.0, 2.0, 0.5]),
                                rtol=1e-6,
                                atol=1e-6)