How to limit HV capacitor charging current?
How could i modify scheme to get rid of lamp and raise its efficiency to 85-95%?

You can't, this circuit needs the lamp to limit the current. Without the lamp too much current will flow and battery and/or diodes and/or SCR will blow up.

This circuit is very crude and also unsafe and inefficient like you mentioned. That's because it doesn't do anything to convert the high mains voltage efficiently to a lower voltage (while raising the current) to charge the battery efficiently.

To safely charge the battery mains isolation is required. To efficiently charge the battery a transformer is needed. Although this circuit is "very good and working solution" (your words, not mine) it is a nasty and cheap solution.

I have seen proper (but cheap) car battery chargers which aren't expensive but are safe and (somewhat) efficient. In any case they will be more efficient that this solution.

So in conclusion: no there's nothing that can be done to improve the efficiency of this circuit, it is a crappy circuit which cannot be improved.

OP complained that this doesn't answer his question. I think it does because when I wrote this answer the question was How could i modify scheme to get rid of lamp and raise its efficiency to 85-95%? I explained that it is not possible.

Also the question was changed, the posted circuit was incorrect, however the "new" circuit worked more ore less in the same way.

Also it was not made clear (in the first version of this question) that this circuit was for desulfation of the battery.

The fact that a circuit "works" doesn't make it a "good" design. I already mentioned the safety issue. Imagine using this circuit to revive a dead car battery. A car battery has a direct connection to the car's chassis so that chassis might become mains live. Also the discharge cycle is quite "violent" and will be hard on the capacitors limiting their lifetime.