diff --git a/cpp/open3d/ml/impl/continuous_conv/ContinuousConv.h b/cpp/open3d/ml/impl/continuous_conv/ContinuousConv.h
index 570cdd84730..a0f66ad9bea 100644
--- a/cpp/open3d/ml/impl/continuous_conv/ContinuousConv.h
+++ b/cpp/open3d/ml/impl/continuous_conv/ContinuousConv.h
@@ -59,6 +59,9 @@ void _CConvComputeFeaturesCPU(TOut* out_features,
 
     memset(out_features, 0, sizeof(TOut) * num_out * out_channels);
 
+    typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
+    typedef Eigen::Array<TReal, VECSIZE, 3> Matrix3C;
+
     tbb::parallel_for(
             tbb::blocked_range<size_t>(0, num_out, 32),
             [&](const tbb::blocked_range<size_t>& r) {
@@ -72,13 +75,12 @@ void _CConvComputeFeaturesCPU(TOut* out_features,
                         in_channels * spatial_filter_size, range_length);
                 B.setZero();
 
-                typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
                 Matrix infeat(VECSIZE, in_channels);
 
                 Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
                                                    offsets[2]);
 
-                Eigen::Array<TReal, VECSIZE, 3> inv_extents;
+                Matrix3C inv_extents;
                 if (INDIVIDUAL_EXTENT == false) {
                     if (ISOTROPIC_EXTENT) {
                         inv_extents = 1 / extents[0];
diff --git a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.h b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.h
index b75089cd889..42e427424a0 100644
--- a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.h
+++ b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvBackpropFilter.h
@@ -63,6 +63,9 @@ void _CConvBackropFilterCPU(TOut* filter_backprop,
     memset(filter_backprop, 0, sizeof(TOut) * total_filter_size);
     std::mutex filter_backprop_mutex;
 
+    typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
+    typedef Eigen::Array<TReal, VECSIZE, 3> Matrix3C;
+
     tbb::parallel_for(
             tbb::blocked_range<size_t>(0, num_out, 32),
             [&](const tbb::blocked_range<size_t>& r) {
@@ -74,13 +77,12 @@ void _CConvBackropFilterCPU(TOut* filter_backprop,
                 Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> C(
                         out_channels, range_length);
 
-                typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
                 Matrix infeat(VECSIZE, in_channels);
 
                 Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
                                                    offsets[2]);
 
-                Eigen::Array<TReal, VECSIZE, 3> inv_extents;
+                Matrix3C inv_extents;
                 if (INDIVIDUAL_EXTENT == false) {
                     if (ISOTROPIC_EXTENT) {
                         inv_extents = 1 / extents[0];
diff --git a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTranspose.h b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTranspose.h
index 1a19cdc4034..2e997a747a5 100644
--- a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTranspose.h
+++ b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTranspose.h
@@ -61,6 +61,9 @@ void _CConvTransposeComputeFeaturesCPU(
 
     memset(out_features, 0, sizeof(TOut) * num_out * out_channels);
 
+    typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
+    typedef Eigen::Array<TReal, VECSIZE, 3> Matrix3C;
+
     tbb::parallel_for(
             tbb::blocked_range<size_t>(0, num_out, 32),
             [&](const tbb::blocked_range<size_t>& r) {
@@ -70,13 +73,12 @@ void _CConvTransposeComputeFeaturesCPU(
                         in_channels * spatial_filter_size, range_length);
                 B.setZero();
 
-                typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
                 Matrix infeat(VECSIZE, in_channels);
 
                 Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
                                                    offsets[2]);
 
-                Eigen::Array<TReal, VECSIZE, 3> inv_extents;
+                Matrix3C inv_extents;
                 if (INDIVIDUAL_EXTENT == false) {
                     if (ISOTROPIC_EXTENT) {
                         inv_extents = 1 / extents[0];
diff --git a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTransposeBackpropFilter.h b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTransposeBackpropFilter.h
index 296850f24a2..b1cb93c0949 100644
--- a/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTransposeBackpropFilter.h
+++ b/cpp/open3d/ml/impl/continuous_conv/ContinuousConvTransposeBackpropFilter.h
@@ -64,6 +64,9 @@ void _CConvTransposeBackpropFilterCPU(TOut* filter_backprop,
            sizeof(TOut) * spatial_filter_size * in_channels * out_channels);
     std::mutex filter_backprop_mutex;
 
+    typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
+    typedef Eigen::Array<TReal, VECSIZE, 3> Matrix3C;
+
     tbb::parallel_for(
             tbb::blocked_range<size_t>(0, num_out, 32),
             [&](const tbb::blocked_range<size_t>& r) {
@@ -75,13 +78,12 @@ void _CConvTransposeBackpropFilterCPU(TOut* filter_backprop,
                 Eigen::Matrix<TFeat, Eigen::Dynamic, Eigen::Dynamic> C(
                         out_channels, range_length);
 
-                typedef Eigen::Array<TFeat, VECSIZE, Eigen::Dynamic> Matrix;
                 Matrix infeat(VECSIZE, in_channels);
 
                 Eigen::Array<TReal, 3, 1> offsets_(offsets[0], offsets[1],
                                                    offsets[2]);
 
-                Eigen::Array<TReal, VECSIZE, 3> inv_extents;
+                Matrix3C inv_extents;
                 if (INDIVIDUAL_EXTENT == false) {
                     if (ISOTROPIC_EXTENT) {
                         inv_extents = 1 / extents[0];