diff --git a/CHANGELOG.md b/CHANGELOG.md
index f4b7530142f..220b0ed4131 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -27,6 +27,7 @@
 -   Add Doppler ICP in tensor registration pipeline (PR #5237)
 -   Rename master branch to main.
 -   Support in memory loading of XYZ files
+-   Fix geometry picker Error when LineSet objects are presented (PR #6499)
 
 ## 0.13
 
diff --git a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
index 8910c64f264..45ca7c44c1e 100644
--- a/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
+++ b/cpp/open3d/visualization/gui/PickPointsInteractor.cpp
@@ -11,8 +11,10 @@
 #include <unordered_set>
 
 #include "open3d/geometry/Image.h"
+#include "open3d/geometry/LineSet.h"
 #include "open3d/geometry/PointCloud.h"
 #include "open3d/geometry/TriangleMesh.h"
+#include "open3d/t/geometry/LineSet.h"
 #include "open3d/t/geometry/PointCloud.h"
 #include "open3d/t/geometry/TriangleMesh.h"
 #include "open3d/utility/Logging.h"
@@ -161,15 +163,27 @@ void PickPointsInteractor::SetPickableGeometry(
         auto mesh = dynamic_cast<const geometry::TriangleMesh *>(pg.geometry);
         auto tmesh =
                 dynamic_cast<const t::geometry::TriangleMesh *>(pg.tgeometry);
+        auto lineset = dynamic_cast<const geometry::LineSet *>(pg.geometry);
+        auto tlineset =
+                dynamic_cast<const t::geometry::LineSet *>(pg.tgeometry);
         if (cloud) {
             points_.insert(points_.end(), cloud->points_.begin(),
                            cloud->points_.end());
         } else if (mesh) {
             points_.insert(points_.end(), mesh->vertices_.begin(),
                            mesh->vertices_.end());
-        } else if (tcloud || tmesh) {
-            const auto &tpoints = (tcloud ? tcloud->GetPointPositions()
-                                          : tmesh->GetVertexPositions());
+        } else if (lineset) {
+            points_.insert(points_.end(), lineset->points_.begin(),
+                           lineset->points_.end());
+        } else if (tcloud || tmesh || tlineset) {
+            core::Tensor tpoints;
+            if (tcloud) {
+                tpoints = tcloud->GetPointPositions();
+            } else if (tmesh) {
+                tpoints = tmesh->GetVertexPositions();
+            } else if (tlineset) {
+                tpoints = tlineset->GetPointPositions();
+            }
             const size_t n = tpoints.NumElements();
             float *pts = (float *)tpoints.GetDataPtr();
             points_.reserve(points_.size() + n);
@@ -203,6 +217,7 @@ void PickPointsInteractor::SetPickableGeometry(
                 // picking_scene_->AddGeometry(pg.name, tmesh, mat);
             }
         }
+        // TODO what about Lineset selection?
     }
     // add safety but invalid obj
     lookup_->Add("", points_.size());