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1. By features, do you mean visual or geometric features? rtabmap uses visual features for global localization and can use lidar to refine localization. For loop closure detection / localization comparison with other algorithms, see this paper (Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation).

2. ICP can be used to refine odometry and to refine loop closure detections / localizations. For example, the motion estimation of a loop closure / localization is computed visually from the camera, then optionally refined using ICP with the lidar. The whole pipeline is described in this paper (RTAB-Map as an Open-Source Lidar and VisualSLAM Library for Large-Scale and Long-Term OnlineOperation).

cheers,
Mathieu