In this paper, we propose a self-calibration of a multi-camera system using factorization techniques for realistic contents generation. The traditional self-calibration algorithms for multi-camera systems have been focused on stereo(-rig) camera systems or multiple camera systems with a fixed configuration. Thus, it is required to exploit them in 3D reconstruction with a mobile multi-camera system and another general applications. For those reasons, we suggest the robust algorithm for general structured multi-camera systems including the algorithm for a plane-structured multi-camera system. In our paper, we explain the theoretical background and practical usages based on a projective factorization and the proposed affine factorization. We show experimental results with simulated data and real images as well. The proposed algorithm can be used for a 3D reconstruction and a mobile Augmented Reality.