There are battery charges specifically designed for this application, for the radio control (R/C) market. They are actually quite sophisticated and versatile, and quite inexpensive, considering the features.
The idea is that people used motorcycle batteries in their "boxes' to run electric starters for gas or glow R/C engines, and needed to recharge them in the field. Simply connecting them to one's car battery, especially when the car isn't running, won't cut it. These chargers are DC boost converters and chargers.
Here's an example:
Turnigy Accucel-6 80W 10A Balancer/Charger LiHV Capable - about $34.
"The Turnigy Accucel 6 Balance Charger utilises quality FET's and resistors to accurately balance and charge LiPoly, LiFe, LiHV, NiMH, Nicd and Lead Acid batteries."
"And because this is a 12v DC charger you can power it up at the field using a 12v car battery or at home with a 12v power supply."
I have a couple of these in different sizes. They really work well.