We demonstrate an optically pumped $^{87}$Rb magnetometer in a microfabricated vapor cell based on a zero-field dispersive resonance generated by optical modulation of the $^{87}$Rb ground state energy levels. The magnetometer is operated in the spin-exchange relaxation-free regime where high magnetic field sensitivities can be achieved. This device can be useful in applications requiring array-based magnetometers where radio frequency magnetic fields can induce cross-talk among adjacent sensors or affect the source of the magnetic field being measured.
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