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Indoors, no I don't think it's worth it. Unless the car is clean when you put the cover on all it will do is sand whatever dirt and grim still on your car into the paint. After a while you paint job gets that "shop worn" look. Persoanally I think they do more harm than good. Just my humble opinoin.
As others stated, only put the Cover on a clean car. I use the California Car Duster before I put the Cover on after every drive. If it got more dirty then just some Road Dust, I wash it. Most of the time, just Dust and Cover. No scratches and the car sits outside.