well, it's usually unnecessary to switch to real mode to plot pixels. Once the graphic mode is set (which may require a switch to VM86 -- but this was no problem for Win9X as it NEEDED the VM86 for its DOS/WIN16 tasks

, your video memory is just memory. Get a page mapping it and write to that page, your pixels will be plotted. period.
Now, except in the case of "Recovery Mode" ("Mode Sans Echec" -- i dunno how they called this in english ::) ), setting the appropriate video mode and drawing to the screen is the job of the video driver provided by your graphic card manufacturer.
For hobbyist of OSes, which can't ask every manufacturer a driver, the (maybe only) option is to turn to VBE to setup a linear-addressed frame buffer that the display subsystem will use.
If you're more motivated, you can try to load video kernel modules for Linux in your own system (simulating calls the video driver might need

) and use OpenGL or something alike to send accelerated commands to the card -- this seems utopia, imho, however

.