Nitrogen-vacancy (N-V) centers in diamond have developed into a powerful solid-state platform for compact quantum sensors. However, high-sensitivity measurements usually come with additional constraints on the pumping intensity of the laser and the pulse control applied. Here, we demonstrate high-sensitivity N-V-ensemble-based magnetic field measurements with low-intensity optical excitation. Direct current magnetometry methods such as continuous-wave optically detected magnetic resonance and continuously excited Ramsey measurements combined with lock-in detection are compared to achieve an optimization. Gradiometry is also investigated as a step towards unshielded measurements of unknown gradients. The magnetometer demonstrates a minimum detectable field of 0.3--0.7 pT in a 73-s measurement when a flux guide with a sensing dimension of 2 mm is applied, corresponding to a magnetic field sensitivity of 2.6--6 pT/√Hz. Combined with our previous efforts on diamond ac magnetometry, the diamond magnetometer is promising for performing wide-bandwidth magnetometry with picotesla sensitivity and a cubic-millimeter sensing volume under ambient conditions.
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