The power brake booster is connected to engine vacuum via a line from the intake. There will be a slight change in engine vacuum when the brakes are applied/released due to a draw from the booster. This would explain a slight, momentary change in idle speed. Should be very, very minor though.
Can't say I've ever paid any attention to this on my Camaro, but I've noticed before on my Bonneville if I pump the brakes 3 or 4 times with the car idling in park the idle will jump around enough to even move the tach needle a bit.
No big deal really.