The aim of this study is to develop tactile pictograms for the visually impaired. Tactile pictograms were developed based on the idea of the visually impaired. This study used six pictograms (stairs, escalator, elevator, taxi stop, railway station, and toilets). The six visually impaired were asked to answer questions about objects and human actions that came to mind from the pictograms’ names and draw them on a raise writer, a writing instrument used by the visually impaired to write and identify letters and figures. Ten visually impaired people evaluated the discriminability of the tactile pictograms in a learning test and recall test. Tactile pictograms (called ‘new pictograms’) developed based on the idea of the visually impaired were simpler designs than conventional visual pictograms (called ‘standard pictograms’). The new and standard pictograms were made into three-dimensional stimuli using PIAF, and their discriminability was investigated through learning and recall tests. In the results, the learning time of new pictograms was shorter than that of standard pictograms because their understandability was improved. In the recall test, the recall time of the new pictograms was shorter than that of the standard pictograms because their perceptibility was improved.