Dynamically Redefined Character Set (DRCS) was introduced with DEC VT200 and even though online information is scarce, there is enough there to make it work on a real machine.
Even more interesting are the Yugoslavian/Slovenian video terminals with their own custom graphics modes and features - it is a lost art but we at the Museum are working on bringing it back!
Some of these old serial terminals can do real graphics but the whole topic is rather obscure (which makes it more interesting i suppose).