In part 5, Whitman writes,
Loafe with me on the grass, loose the stop from your throat,
Not words, not music or rhyme I want, not custom or lecture, not even the best,
Only the lull I like, the hum of your valved voice.
The first image, in bold above, is a tactile one: one can imagine the feel, the touch, of the grass as one lies down on it. The second image, in bold above, is auditory: one can hear the hum of a beloved's voice, especially in contrast with the other human noises Whitman describes.
Whitman also describes one who "reach'd till [they] felt [his] beard, and reach'd till [they] held his feet." This is another example of a tactile image (touch).
Later, Whitman writes,
limitless are leaves stiff or drooping in the fields,
And brown ants in the little wells beneath them,
And mossy scabs of the worm fence, heap'd stones, elder, mullein, and poke-weed.
Above, we are presented with several visual images, all of which describe things that we might see. Whitman describes the leaves, the ants, and the plants.
In part 6, Whitman describes a child who asks about the grass and then "fetch[es] it to [him] with full hands." This could also be described as a visual or tactile image. Later, he likewise describes the grass as
Sprouting alike in broad zones and narrow zones,
Growing among black folks as among white . . .
And now it seems to me the beautiful uncut hair of graves.
This constitutes another series of visual images: the "sprouting," and the different colors of people, as well as the metaphor comparing the grass to grave hair.