in addition to above you can use a tool that uses "device profiling" that classifies devices based on data packets the device sends out
some elements used are MAC-adres (vendor part of the MAC) DHCP requests, radius packets and other packets
many type of traffic each give a bit of information, combining all this data can give a good image of the devices on your network
if you already have Cisco ISE is your network, that is "the place to be"
if you have not then Cisco ISE is too expensive to start with