I got he solution.
AcadApp.DocumentManager.MdiActiveDocument.Editor.SelectImplied().Value
This code gives the selected objects but as I noted in the question I get null reference exception. This was because I was trying o get objects in a background thread. http://adndevblog.typepad.com/autocad/2012/06/use-thread-for-background-processing.html mentions this problem.
Problem solved when I call MdiActiveDocument in the main thread and then I send the result o my background thread for processing.