Usually ICS ROMs does not come with the samsung MTP application which will allow you to connect to kies. If the kies option is not there, your only option is to find a CWM flashable mtp app provided by someone in the forum.
Worst case is that you need to revert back to stock or your previous rom which is recognized by kies, restore your contacts and sync them with google contacts. After the sync is successful you can install the ICS rom again and let it sync with google contacts. You'll get your contacts back then