It's really only for players who make a lot of use out of their jumping skills, I like Icarus on my Jewel of Osiris as I jump around a lot and I have noticed the accuracy bonus is substantially larger with Icarus than without. It's good for landing those few hits from above and finishing your target with a melee, most people in Destiny aren't good at reading the Radar so maps that allow high vertical movement in tight spaces(Like Twilight Gap for example)are the best for Icarus and jumping.