The OP wants to use pdf in console, acroread is a big honking X app.
As for one way to view pdf files in a console, I finally had a chance to test this and it works fine. There is a program called pdftohtml that works something like
pdftohtml pdf_file_here html_file_here
There are a lot of different options you can specify, but the basic idea is that html and jpg files are generated from the pdf. Then it's a simple matter of using something like
and you are in business.