Depending on exactly _why_ the batteries have deteriorated, an electronic "desulfator" may work.
Two of the common causes of lead-acid battery degradation are reputed to be:
Long-term use and/or overload, where the plates degrade and shed material which ends up in the bottom of the cells. That is irreversible.
Sulphation of the plate surfaces - an almost-inert sulphur compound can form on the plate surfaces when the cells are idle, which reduces the capacity of the cells.
That can supposedly be reversed by a gadget that puts high voltage pulses across the cell and breaks down the sulphate by electrolysis.
Background info:
http://en.wikipedia.org/wiki/Battery_regenerator
I've played with such a device on old UPS batteries; I seem to get around a 50% success rate with significantly improved capacity after it's been on for a week or so, or no effect at all. That's on 12V batteries that will not hold any significant charge to start with after being on float charge for long periods. They are also gel electrolyte types which are not ideal...
You can build your own or buy them as kits / ready built.
eg.
http://cdn.hackaday.io/files/257411101302944/batt desulfator.pdf
http://www.barkeraircraft.com/files/Pulse3_web_layout_.pdf
It's just about as cheap to get a ready made one as buy the parts...
**broken link removed**
If you try one, I'd connect to each 12V battery pair in turn, giving each equal time over a few weeks - or get/build three and leave them permanently connected.
I added ferrite cores to my charger cables with several turns through each, to isolate the high frequency pulses from the capacitive load of the charger.