I have the same batteries in mine. With the scanner running (I usually leave it going 24/7), the charge rate is slow, but it will pump juice into them. I can usually use it for a couple hours unplugged, perhaps a bit more, and, certainly, It works well enough to go between the cookie sheet perch to the truck without losing power. With the scanner off, it'll charge the batteries much quicker. Either method, it will do more than maintain; it will increase the charge.
I use "charge" quite liberally as it doesn't top them off, it just restores them to a certain point. 1.5v X 4 = 6v. And, really, they like a bit more than 1.5v when topped off. USB power and most USB adapters is 5v. So the max you're going to get it with the USB cable is at least a full volt from full charge. It's like running the batteries between 0% and 25%, which is not good for them (however, it is convenient).
When you know you are going to need the scanner on battery for a long time, definitely charge the batteries in a good quality charger. It would also be good to do the same for you regular radio batteries to try to extend their life (i.e. reduce the creation of a "memory").
For your bug out bag or for emergency use, keep lithium batteries around. They hold their charge for at least a decade when unused and are generally good power sources. Also, they don't leak (i.e. if left out in a hot vehicle), which is nice.