Try reading this for PICTURES of the Asteroid you can't SEE:
NASA INFO ON TOUTATIS The article also has an approach table. I am sure with a little more digging, you can get R.A. and DEC settings for a telescope for given dates and locations. Look for yourself.
Thanks for the link. No contradiction here with this part :
HOW - 2. "... but we already saw it "
The question is : who will be able to see it now ?