Most likely causes:
Front wheel hubs need replaced (do both at one time)
Front rotors warped or worn (change rotors and pads both wheels together)
The noise from the brakes dragging or the wheel bearings humming gets picked up by the abs sensors in the hubs before you can hear them. A few hundred miles later, the problem will get worse enough to hear while driving. Wheel hub replacement best done on a lift with an enormous impact wrench. 
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