At my Anglo-Catholic parish, we perform the Stations of the Cross every Wednesday in Lent, stopping before and looking up at a small carving of the appropriate activity as we speak/chant each station. Is this idolatry? I'm certainly not worshipping that carving.
One other thing that I do not see in this article. Icons were the means by which the bible was taught in the early Church because most people at that time could not read. Just an FYI.