In order to overcome the disadvantages in existing charge coupled device (CCD) subpixel imaging realization ways, such as complex structure, high subpixel precision and so on, a subpixel imaging method with single CCD camera by using high precision two- axis translation table to imaging the target at a certain distance is proposed and implemented. The multiple low- resolution images, which have half- pixel shift with each other attained by photographing target in fixed object distance using the proposed method, are interpolated and reconstructed based on cubic B spline interpolation and interlacing, and high resolution images are achieved. Then, point spread function is estimated by using knife edge method, and final high resolution image is got after performing image restoration to above reconstructed high resolution image. Results show that visual spatial resolution is improved to 1.4 times and image aliasing effect is reduced by using subpixel imaging and modulation transfer function area (MTFA) is increased to 0.2937 from 0.1577 by performing image restoration. Experiment demonstrates that subpixel imaging can enhance spatial resolution, reduce image aliasing and improve image quality. Image restoration can effectively compensate modulation transfer function (MTF) of reconstructed high resolution image, which solves the problem of spatial resolution enhancement but MTF reduction in subpixel imaging.