If you are in an large house you can often pull guard into one end and sprint to door and get out.
This obviously works best on an stamina build.
This is far easier if you fight an standard npc, its beneficial not to kill them as it increase bounty.
Also because of thief guild rules.
Else thank for the invisibility potion idea.
Note that this is mostly important if you have found an +3K blueprint or recipe
Don't use sprint. The guards will match your speed no matter if walking or running, and sprint will just waste stamina. Instead roll normal run, roll normal run, and so on until you have a decent lead on them.