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The Indian had defeated Lanier at the Madrid Spain Masters qualification round last year in their only meeting.
The win against Antonsen is the 22-year-old Rajawat's first-ever victory over a top-10 player.
Sen has a 4-2 head-to-head record against his final opponent Li Shi Feng, the reigning All-England champion.
Sindhu advanced after her opponent Natsuki Nidaira of Japan gave a her a walkover. Sen notched up a 21-15, 21-11 win over Brazil's Ygor Coelho in 31 minutes.
With the win, the former world number one will re-enter the top 10 next week at number six.
The first stop on Serena Williams' farewell tour came to a quick end as she fell 6-2 6-4 to Belinda Bencic in second-round action at the Canadian Open.
Results 1-6
