open3d not working in Binder: The kernel for ipynb appears to have died. It will restart automatically.

### Checklist

- [x] I have searched for [similar issues](https://github.com/isl-org/Open3D/issues).
- [X] For Python issues, I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip).
- [X] I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch).

### Describe the issue

I am using Jupyterlab through a MyBinder server.

I executed a PointCloud example inside a Jupyter notebook and got an error message which restarted the kernel.
The open3d extension for JupyterLab was already installed when this error occurred.

### Steps to reproduce the bug

```python
# Libraries
import numpy as np
import open3d as o3d
from open3d.web_visualizer import draw

# Input
points = np.array([[1, 1, 1]])
colors = np.array([[0.5, 0.25, 0.25]])

# Visualization
pcd = o3d.geometry.PointCloud()
pcd.points = o3d.utility.Vector3dVector(points)
pcd.colors = o3d.utility.Vector3dVector(colors)
draw([pcd])
```

### Error message

A window in Jupyterlab appears with the following message:

Kernel Restarting
The kernel for example.ipynb appears to have died. It will restart automatically.

### Open3D, Python and System information

```markdown
- OS: Ubuntu 18.04.6
- Python version: Python 3.8
- Open3D version: 0.15.2
- JupyterLab version: 3.4.2
```