A camera self-calibration technique based on factorization and bundle adjustment is proposed. With the hand-held and fix-focus camera undergoing at least three arbitrary motions around the calibration pattern, all the intrinsic parameters and the distortion coefficients can be obtained. The proposed method has three novelties. Firstly, its robustness is markedly increased since all the images are aligned in the factorization process. Secondly, the non-linear optimization algorithm bundle adjustment guarantees high accuracy. Thirdly, the proposed method does not require specialized calibration pattern or rigid camera motion, which makes it be used in a wide range of applications. Both simulation and real images experiments proved the feasibility and applicability of the proposed method, particularly applying to those close-range photogrammetry system based on image sequences. As a result, the new algorithm has been successfully applied to the feature point measurement system TN 3DOMS.FP v1.2 with independent intellectual property right of Saint Buffalo Technology Co., Ltd.