diff --git a/cpp/open3d/core/nns/NanoFlannImpl.h b/cpp/open3d/core/nns/NanoFlannImpl.h
index 027d6d0c4ee..9a9ceb100c4 100644
--- a/cpp/open3d/core/nns/NanoFlannImpl.h
+++ b/cpp/open3d/core/nns/NanoFlannImpl.h
@@ -118,13 +118,6 @@ void _KnnSearchCPU(NanoFlannIndexHolderBase *holder,
         return;
     }
 
-    auto points_equal = [](const T *const p1, const T *const p2,
-                           size_t dimension) {
-        std::vector<T> p1_vec(p1, p1 + dimension);
-        std::vector<T> p2_vec(p2, p2 + dimension);
-        return p1_vec == p2_vec;
-    };
-
     std::vector<std::vector<TIndex>> neighbors_indices(num_queries);
     std::vector<std::vector<T>> neighbors_distances(num_queries);
     std::vector<uint32_t> neighbors_count(num_queries, 0);
@@ -147,8 +140,9 @@ void _KnnSearchCPU(NanoFlannIndexHolderBase *holder,
                     for (size_t valid_i = 0; valid_i < num_valid; ++valid_i) {
                         TIndex idx = result_indices[valid_i];
                         if (ignore_query_point &&
-                            points_equal(&queries[i * dimension],
-                                         &points[idx * dimension], dimension)) {
+                            std::equal(&queries[i * dimension],
+                                       &queries[i * dimension] + dimension,
+                                       &points[idx * dimension])) {
                             continue;
                         }
                         neighbors_indices[i].push_back(idx);
@@ -222,13 +216,6 @@ void _RadiusSearchCPU(NanoFlannIndexHolderBase *holder,
         return;
     }
 
-    auto points_equal = [](const T *const p1, const T *const p2,
-                           size_t dimension) {
-        std::vector<T> p1_vec(p1, p1 + dimension);
-        std::vector<T> p2_vec(p2, p2 + dimension);
-        return p1_vec == p2_vec;
-    };
-
     std::vector<std::vector<TIndex>> neighbors_indices(num_queries);
     std::vector<std::vector<T>> neighbors_distances(num_queries);
     std::vector<uint32_t> neighbors_count(num_queries, 0);
@@ -255,9 +242,9 @@ void _RadiusSearchCPU(NanoFlannIndexHolderBase *holder,
                     int num_neighbors = 0;
                     for (const auto &idx_dist : search_result) {
                         if (ignore_query_point &&
-                            points_equal(&queries[i * dimension],
-                                         &points[idx_dist.first * dimension],
-                                         dimension)) {
+                            std::equal(&queries[i * dimension],
+                                       &queries[i * dimension] + dimension,
+                                       &points[idx_dist.first * dimension])) {
                             continue;
                         }
                         neighbors_indices[i].push_back(idx_dist.first);
diff --git a/cpp/tests/t/geometry/TensorMap.cpp b/cpp/tests/t/geometry/TensorMap.cpp
index 372c6b82270..8512ce68ccb 100644
--- a/cpp/tests/t/geometry/TensorMap.cpp
+++ b/cpp/tests/t/geometry/TensorMap.cpp
@@ -32,6 +32,13 @@ TEST_P(TensorMapPermuteDevices, Constructor) {
     // Primary key is required.
     EXPECT_ANY_THROW(t::geometry::TensorMap());
 
+    // Delete primary key.
+    EXPECT_ANY_THROW(tm0.Erase("positions"));
+
+    // Reserved keys.
+    EXPECT_ANY_THROW(tm0.insert(
+            {"primary_key", core::Tensor::Zeros({2, 3}, dtype, device)}));
+
     // Iterators.
     std::map<std::string, core::Tensor> tensor_map(
             {{"positions", core::Tensor::Zeros({10, 3}, dtype, device)},
diff --git a/docker/Dockerfile.ci b/docker/Dockerfile.ci
index 544f791299b..f5f2a37c9a6 100644
--- a/docker/Dockerfile.ci
+++ b/docker/Dockerfile.ci
@@ -68,6 +68,8 @@ RUN if [ "${BUILD_SYCL_MODULE}" = "ON" ]; then \
     fi
 
 # Dependencies: basic and python-build
+# gcc-11 causes a seg fault in tensormap when built in Release mode. Upgrade to
+# gcc-13 instead.
 RUN apt-get update && apt-get install -y \
     git  \
     wget \
@@ -87,11 +89,16 @@ RUN apt-get update && apt-get install -y \
     libxmlsec1-dev \
     libffi-dev \
     liblzma-dev \
+ && if c++ --version | grep -F ' 11.' ; then \
+        apt-get install -y g++-13 \
+        && update-alternatives --install /usr/bin/c++ c++ /usr/bin/g++-13 100 \
+        && c++ --version; \
+    fi \
  && rm -rf /var/lib/apt/lists/*
 
 # pyenv or Intel Python
 # The pyenv python paths are used during docker run, in this way docker run
-# does not need to activate the environment again. 
+# does not need to activate the environment again.
 # The soft link from the python patch level version to the python mino version
 # ensures python wheel commands (i.e. open3d) are in PATH, since we don't know
 # which patch level pyenv will install (latest).