This achievement is obtained after you find and set up every camp in the game. There are a handful of camps that aren't accessible until you progress further into the main story. The last camp will be unlocked during the quest "The Attack on San Matheus" when you have to fight the corrupted Nadaig Meneimen.
NOTE: After finding all the camps in the game the achievement won't actually pop until you report back to Mr de Courcillon in New Serene and speak to him about it. After you talk to him about the camps the exploration quest will finish and the achievement will pop.