A blind man could follow the mud slick road that leads out from the two entrances to the camp. The south one, closest to you, seems more used though. Both of these short, muddy roads quickly fan out into numerous smaller trails that disappear into the distance. The orcs have certainly been coming and going a lot - mostly south and east it appears.
If you approached the camp from slightly north of east the large tent will shield you from the orcs outside the large tent and the ones by the cages. The goblins at the north entrance could still see you, but it would be impossible to approach without being in view of at least someone in the camp. The long grass and scattered rocks could still provide cover - with a bit of luck.