In autonomous vehicle systems, imaging sensors play a critical role in environmental perception, particularly under low-visibility conditions. This paper introduces a method for tracking objects using a single thermal camera. By employing a particle based δ-GLMB Filter, we achieve accurate tracking of the directional movements of objects. Although constrained to angular only measurements by the use of a single camera, this study represents an initial investigation into the integration of thermal cameras with δ-GLMB filtering for object tracking, laying the groundwork for future advances in this area.