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Firstly, you cannot compare ICF and ESB.
ICF is specific to OIM and ESB is architecture model for enabling communtication between different SOA components based on message oridented architecture. ICF enables unification of integration of connectors with OIM as each connector implemtantion is independent and specific to target system.
You can use ESB for connector implementation if target system understands messages from ESB. Hope this helps!
Edited by: 999480 on 11-Apr-2013 04:12