This worked for me to get the taxonomy terms for the current post with an ACF icon field attached:
<?php $terms = get_the_terms( get_the_ID(), 'project_services' );
$cat_icon = get_field('icon', $queried_object);
?>
<?php if( $terms ): ?>
<ul class="menu">
<?php foreach( $terms as $term ): ?>
<li>
<a href="<?php echo get_term_link( $term ); ?>">
<?php $icon = get_field('icon', $term->taxonomy . '_' . $term->term_id);?>
<img src="<?php echo $icon ?>">
<?php echo $term->name; ?>
</a>
</li>
<?php endforeach; ?>
</ul>
<?php endif; ?>
