Personally I think that “un-occupied” and “empty” hex are the same definition and as interpret it that is any hex which is NOT blocked and NOT containing a figure. My interpretation is that an obvective being on an objective does not make it occupied or “non-empty”.
I think that this makes sense in relation to your undead card allowing a fighter to pass through other fighters. There is some disagreement regarding the interpretation of the rule for shadeglass tiles it in my opinion placing a sjadeglass tile on a hex with an objective is well within the rules and is a perfectly valid tactic for denying an opppnenee and objective or even keeping it clear to be claimed in the next round.