Cold temperature / Unresponsive screen?

When I leave my phone out on my desk, or in an ambient environment of 70 degrees or less, my screen will not respond to touch. I must put it in my pocket or hold it in my hands for ~20-30 seconds before it will be warm enough to respond. I concluded the temperature to the be cause of the problem because the phone will respond right out of my pocket 100% of the time.

Is this normal? Or does it sound like a possible hardware issue?