Yes. On initial post, the bios is checking itself and items plugged into it. This could be anything from cpu, memory, cards, harddrives, everything right down to the keyboard.
Sometimes items will take a long time to answer back, sometimes the answer doesn't come back or gives the bios a problem. Often a bios will get an reply and misinterpret it. Older mobos with new devices, new mobos with old devices are classic issues. One being faster than the other or being impatient.
If it's happening 1 in 3 times or so with restarting, try a complete turn off, wait some seconds, then turn on - likelihood is that will always work.
If you don't narrow it down to a specific device, the mobo's bios may solve the issue with an update.