ARCore put scene object on marker

I am learning to work with ARCore and am looking for the basic, traditional AR case where I have a couple of gameobjects in my scene and place them on a tracked image. I have done this with Vuforia, but can't find how to do this in ARCore.

I have downloaded the AR Foundation samples, but the image tracking example uses a script to place the virtual image over the real-world image. There are no gameobject in the scene that are placed on the marker.

The plane-detection sample uses a prefab to place an object in the scene, that's also not what I need.

The scale sample does have Content in the scene, but that is not related to a tracked image.

So I hope someone can point me to an example or tutorial for this.

Thanks!