Charge-changing cross-sections (CCCSs) of 11−16C, 13−17N and 15−18O on a carbon target have been determined at energies around 300 MeV/nucleon. A nucleon separation energy-dependent correction factor has been introduced to the Glauber model calculation for extracting the nuclear charge radii from the experimental CCCSs. The charge radii of 11C, 13,16N and 15O thus were determined for the first time. With the new radii, we studied the experimental mirror-difference charge radii (ΔRchmirror) of 11B-11C, 13C-13N, 15N-15O, 17N-17Ne pairs for the first time. We find that the ΔRchmirror values of 13C-13N and 15N-15O pairs follow well the empirical relation to the isospin asymmetry predicted by the abinitio calculations, while ΔRchmirror of 11B-11C and 17N-17Ne pairs deviate from such relation by more than two standard deviations.