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Yep. There is a glitch in the ECU logic - sometimes it expects sensors to warm up faster than they do and it throws code and CE light for a few seconds/minutes. It is required to throw code and illuminate light by law, I'm not sure if the law specifies maximum time for sensors to warm up. The sensors have built-in electrical heaters to speed up the warming.
The problem happens to many people on this board - on my car it does not need to be really cold. It seem to depend on the usage pattern - it is more likely to throw a code after a ~ 20 minute stop, when engine is still warm, but pipes cooled down.
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