Yes, because God quite literally commanded the creation of Icons when He commanded the creation of the Ark and the Temple. Actually, if you go into any Catholic Church that hasnt been thoroughly defiled by modernism, you will see the exact same type of iconography that would have been present on the Ark and the Temple. The Ark was the pre-cursor for the tabernacle containing the Eucharist. No one was worshipping the Ark or the Cherubim's on it, they were worshipping God.