I got stuck with the problem...
I like to create a picture based subtitle (e.g. Vobsub) and mux it together with a HD H.264 video into a mp4 container.
I am able to create the single images and also a .xml or other file with the timing information with a script.
But how do I combine my single images to a format that for example MP4Box can mux it into a MP4 file?
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iirc mp4box should be able to multiplex .idx/.sub subtitles into an mp4 file,... see: http://gpac.wp.mines-telecom.fr/mp4box/mp4box-documentation/ and http://forum.doom9.org/showthread.php?t=110419
a. no clue how to create idx/sub files from your starting point
b. the result will probably not be playable on many devices since picture based subtitles are not supported by the mp4 standard afaik