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I'm so late in replying, but for people who might see this message in future: You can achieve this with PCL(point cloud library), meaning that you need a depth sensor. The following link is exactly what was asked here: https://pointclouds.org/documentation/tutorials/region_growing_rgb_segmentation.html

You can get the position of the object with this package, and then use navigation stack for moving the mobile robot to it.