You could use PostgreSQL's system catalogs with e.g.
SELECT n.nspname, c.relname
FROM pg_class c
INNER JOIN pg_namespace n ON (n.oid = c.relnamespace)
WHERE c.reltuples = 0 AND c.relkind = 'r';
According to the documentation, the number of rows is an estimate, though.
If your tables have columns that take their default values from sequences, you could list them and check their values with nextval. (Unfortunately, currval returns a session-dependent value, so you'd have to ensure that no one else is using the database and use both nextval and setval.)
SELECT n.nspname, c.relname
FROM pg_class c
INNER JOIN pg_namespace n ON (n.oid = c.relnamespace)
WHERE c.relkind = 'S';
(Unfortunately I couldn't yet find any way to determine, which sequence belongs to which table. Obviously it would be very helpful. Anyway, you can use pg_class.relnamespace to narrow down the results.)
See http://www.postgresql.org/docs/9.3/interactive/catalogs-overview.html for details.