How do I get to the other side of this bridge?

If you've been to the Undead settlement then you already know this. In the Undead Settlement at the Foot of the High Wall, there's a place with a bunch of dead pilgrims, except for that one sorcerer guy. Anyway, if you peer over the edge you can see a broken bridge that has a dead dragon and a few loot gleams. I was wondering how to get over there.

Solution 1:

This bridge is accessible from Farron Keep. This is location where you fight mini boss:

Stray Demon

It's not hard to find: in swamp area look for huge ladder, climb it, there will be room with bonfire, use elevator next to it, then search for a gap in railing.

On this map ladder is marked as B, I put map as spoiler just in case:

This walkhthrough video can show exact path.