android full screen mode(ICS), first touch shows the navigation bar

You can't really take over the first event. You could implement View.OnSystemUiVisibilityChangeListener and be notified when the navigation bar is shown or hidden again, and then depending on its current state do what you wanted on the first touch, if possible.

However, there is no way you can completely take over the first touch, as stated in the documentation for SYSTEM_UI_FLAG_HIDE_NAVIGATION:

There is a limitation: because navigation controls are so important, the least user interaction will cause them to reappear immediately. When this happens, both this flag and SYSTEM_UI_FLAG_FULLSCREEN will be cleared automatically, so that both elements reappear at the same time.