I will preface this by saying that when I travel, I usually have a few UV filters on my lenses, and a few of my lenses usually have a filter live on them.
But have people who say that filters saved the lens, or protect their lens ever actually had an incident where they hit the front element of their lens directly? I have had quite a number of inicidents with the front element of my 70-200 and my 135 F2, where you would think that there would be damage, and there is none. These things are quite durable.
The main reason to have a UV filter, is that some of the Canon lenses don't complete their weather sealing untill a UV filter is put on (17-40 F4 for example).
For some lens the difference in contrast between having a UV filter and not can be very very noticable (100-400 for example). (I have multicoated UV filters only).