Has anyone noticed that the car/brakes shudder when stopping for the first time on a really cold morning?

The temps recently dropped to 10-15 degrees here and when I stop at the stop sign about 1/2 mile from my house, the car (or brakes) shudder. I'm only going about 10mph and am pretty smooth on the brakes, so I can't imagine it is the ABS kicking in. It doesn't happen when I stop at subsequent stop signs/lights.

Could it be the brakes are grabbing until they warm up?