I use the detect life spell, hostiles will be red, non-hostiles will be blue. This will only pick up humans, the detect dead spell will pick up draugh and vampires.
You can get detect life at any level by helping an guy outside an fort west of Riften and south East of Ivarstead
http://www.uesp.net/wiki/Skyrim:Infiltration
Warning Detect Life is not fool proof, vampires are hostile except a few named however some bandits and mages might show up as friendly but will become hostile if you get to close, they will however tell you to stay away if they see you, however sprinting or sneaking in might not be an good idea as you might get to close before they turn on you.