I doubt people are starving in developed countries so I wouldnt say it's taking anyone out of starvation, it's an alternative to existing welfare in that regard.
And when we get to "basic shelter" well coupled with free health care I guarantee you there are people out there who have very little ambition beyond that, I know more than a few from highschool that literally said things like "all i need is enough money to play WoW" or just work enough to earn money for weed and go out with their friends and live with their parents (and these are people in late 20s early 30s).
People with ambition aren't the ones that benefit from minimum income (unless they get really unlucky, which I guess is a valid concern, but then again those same people are not the ones doing the bottom tier jobs, at least not for long).
Also that's not how I saw basic income schemes suggested, usually it's paid out to people below min income and then progressively lowered to some point otherwise the taxes would have to be insane to finance it.