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We demonstrate Rydberg atom-based radio frequency sensing with a colinearthree-photon scheme in a room temperature cesium vapor cell that minimizesresidual Doppler broadening of the probe laser absorption feature. A sub-200kHz spectral linewidth is observed and extends the self-calibratedAutler-Townes sensing regime to weaker fields by a factor of ~18 compared tothe theoretical limit of the most commonly used two-photon scheme. Thesensitivity of the method to microsecond pulses is shown to be sufficient todetect radio frequency Rabi frequencies of 2$\pi$ x 0.44 MHz using a 480 kHzbandwidth at 108.9 GHz, demonstrating the ability to sense time-dependentsignals suitable for radar and communications.

A Three-Photon Rydberg Atom-Based Radio Frequency Sensing Scheme with Narrow Linewidth