Rubidium energy levels for $n{}^{2}S$ ($n=14\text{–}20$), $n{}^{2}D$ ($n=12\text{–}20$), $n{}^{2}F$ ($n=9\text{–}32$), and $n{}^{2}G$ ($n=16\text{–}32$) are experimentally observed. Resonant two-photon spectroscopy is used to interrogate the high-lying $S$ and $D$ states, with $5{}^{2}P_{3/2}$ as the intermediate state. A multistep pump scheme is used to prepare $4{}^{2}D_{5/2}$, from which single-photon transitions to $F$ and $G$ are observed. The resulting uncertainties are series dependent but typically $<50\mathrm{MHz}$ (0.0017 ${\mathrm{cm}}^{-1}$), limited mainly by the residual width of the line shape. Quantum defects for all series are consistent with prior literature values. The precision of this work is not sufficient to update the ionization energy.

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• Electronic structure of atoms & molecules
• Electronic transitions
• Lifetimes & widths
• Lineshapes & shifts
• Rydberg gases