
<?php
class ...
protected $_assetRepo;
public function __construct(
....
MagentoFrameworkViewAssetRepository $assetRepo,
....
) {
....
$this->_assetRepo = $assetRepo;
....
}
Now, In you case module name is : Company_Helloworld
and you want icon.png
from images
directory so
echo $this->_assetRepo->getUrl("Company_Helloworld::images/icon.png");
Hope this will help you.