A tactile guide map is designed to facilitate mobility for the visually impaired. This conveys information by tactile means, using Braille to represent facility information in Japan. However, because the literacy rate of Braille is low, the utilization rate of tactile guide maps is also low. To solve these problems, tactile pictograms (that is three-dimensional graphic symbols) have been studied. This study aims to create tactile pictograms that are clearly recognizable, even at tiny sizes. This study suggests tactile pictograms with reduced components, greater element spacing, and variable heights. This study created tactile pictograms with three different designs for 10 pictograms. The first type of tactile pictogram (type 1) is a standard design according to JIS (Japanese Industrial Standards) Z8210 and has a height of 0.5 mm. The second type of tactile pictogram (type 2) is a simple design based on the ideas of the visually impaired and has a height of 0.5 mm. The third type of tactile pictogram (type 3) is based on type 2 and element heights of 0.5 mm and 1.0 mm. The size of the tactile pictogram was 30 mm in length and 30 mm in width and was created using a 3D printer. Ten adult volunteers wearing eye masks performed the learning and recall tests. In the results, learning time and recall time were the shortest, and the understandability, discriminability, and percentage of correct answers were the highest in type 3. Therefore, it was clarified that different element heights improved the perceptibility of tactile pictograms. The impact on the visually impaired and older people should be clarified in the future.