It's better in the garage. The colder a battery is, the lower it's self discharge rate is - although, if you're leaving it on a "maintainer" for the duration - that doesn't matter much. So far as freezing goes - a fully charged battery will not freeze up in your garage, with the temperatures that we experience in this part of Ontario.
It's never a good idea to charge an automotive type battery, indoors - unless the room is really well vented - for the reason that Gryphon mentioned.