This achievement can be a little buggy, my game only counted seven camps after I'd unlocked all 10 areas. If you need to fix your achievement, or even better get this super early on, there's a simple trick to advance the count.
Like CheeseNinja's solution states, this achievement is just for the first camp set up in each new area. So when you find the first campsite in any newly explored area save your game, set up the camp, load and repeat. The game tracks these stats seperately, so you can effectively find the first camp in the Hinterlands, save/establish/load 10 times and the achievement will pop.
Obviously if this is glitched this will require an older save game, but if that's out of the question it's not too long to speed your way through the intro.
Hope this helps!