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Move 3-D objects on screen irrespective of image target

I'm working on a game in which I have a main character that shows when its corresponding image target is detected. Once this character is on screen, if I bring in any other object via another image target, I want my character to start walking towards that object. 

How can I achieve this? I have managed to turn on the animations and detect and report when other objects are detected but I get stuck when it comes to getting the position of both the character and the object and moving one towards another.