I guess the easiest thing is to check the listener.ora file on the server. It should contain a parameter, SID_LIST_LISTENER. The individual SID_NAMEs within this list are the instances which the listener is monitoring.
Of course there are some implicit assumptions in doing this. The listener may not be started, and even if it is, the instances it is monitoring may not be up. Also, it's possible, but not likely, that there is an instance running on the server that hasn't been added to the listener. However most likely checking listener.ora will give you a complete list of instances running on the server.