In Daredevil season one episode nine(Speak of the Devil) Matt visits a warehouse on Pier 81. There's a map on a table in the warehouse, and Matt runs his fingers across it and appears to be reading it. However, the map's not written in Braille, so how is he able to do this?
In the comic books, it has sometimes been stated that his super-senses are so incredible that his hypersensitive fingertips can easily detect the difference between paper-with-ink-printed-on-it and paper-without-ink-on-it. After years of practice, he can quickly recognize familiar words with a sweep of his fingertips across each line of text. (I'm not sure I have any comic books in which he navigates that way by touching a printed map, but I wouldn't be surprised if it's happened at least once or twice when the plot required it.)