Have a look at fbida. It provides fbi (an image viewer), fbpdf (a PDF viewer), and a few other apps that all run in a framebuffer.
There's also w3m, which is a basic web browser capable of displaying images inline; although this requires some hacking in order to work in a vanilla TTY. What could be easier is a using a kiosk window manager (such as Cage) to launch a lightweight terminal (like st, urxvt, or xterm).