Improving axial resolution is crucial for three-dimensional optical imaging systems. Here we present a scheme of axial superresolution for two incoherent point sources based on spatial mode demultiplexing. A radial mode sorter is used to losslessly decompose the optical fields into a radial mode basis set to extract the phase information associated with the axial positions of the point sources. We show theoretically and experimentally that, in the limit of a zero axial separation, our scheme

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... ows for reaching the quantum Cram\'er-Rao lower bound and thus can be considered as one of the optimal measurement methods. Unlike other superresolution schemes, this scheme does not require neither activation of fluorophores nor sophisticated stabilization control. Moreover, it is applicable to the localization of a single point source in the axial direction. Our demonstration can be useful to a variety of applications such as far-field fluorescence microscopy.