After you defeat the opponents, use the camp and approach the wooden wall. You need to drive arrow here, exactly into the spot that you can see in the screenshot, by the right edge.
Jump onto the arrow and drive another one into the structure, just like in the screenshot.
After you jump onto that one, drive more arrows into the part shown in the screenshot. Then jump onto them.
From here, you can jump over towards the white planks.
As you climb up the tower, you will have to shoot some more arrows at the wooden surface...
... swing over chasms on the rope...
... to get to the spot, where you again need to use arrows as rungs.
This way, you should finally be able to get to your destination.