Some driving conditions can cause the Check Engine light (MIL) to illuminate with a Air Fuel sensor slow response code. This is a software issue and can be corrected with an update from Honda.Google+
Car Problem Reports
Honda CR-V Software update to correct false air fuel sensor fault
Honda CR-V Problem
Visitor, 2004 Honda CR-V, 150,000 mi
They told me I needed a new O2 sensor (which is what this sounds like), and charged me $800 to repair it. I'm guessing from this feed that all that was really needed was a software update.