Given the rebar placement and size of aggregate, I'd bet that most of your voids are in the shape of an inverted pyramid with the top right below a row of horizontal rebar, probably below the lap splices which are typically 20-24" long for 1/2" rebar.
If all of your walls are above grade, and your voids are ~24" or less in width, and not over a long span (>6') door or window header, this shouldn't be a significant structural issue.
If you can accurately locate the void boundaries, you can drill a ~3/4"-1 hole in the foam near the top of the void with a smaller ~1/4" hole just above that to let air escape. Mix up some non-shrink grout to fluid consistency. Get a funnel with a tube on the end that fits tightly in your 3/4"-1" hole. Pour the void full of grout until it comes out of the smaller 1/4" hole above. Periodically tap the foam with a rubber mallet or hammer and wood block to consolidate the grout into all of the cracks and crevices.
The strength of non-shrink grout even at fluid consistency is typically higher in compressive strength than residential poured concrete.
http://www.quikrete.com/PDFs/DATA_SHEET-Non-Shrink%20Precision%20Grout%201585-00.pdf