Planets with zero population infrastructure suffer an underdevelopment penalty to tax income that makes them a liability for your empire. The number of levels to eliminate the penalty varies based on planet type.

Your homeworld starts off Fine, Asteroids take 1 upgrade to eliminate Credits lost to underdevelopment and a marginal population increase(more taxes) Ice planets and Volcanic planets take 2 Civilian infrastructure upgrades to remove credits lost to underdevelopment (at leats i think it's 2 for both, and pretty sure it's 2 for terran planets also...) The VERY FIRST thing you want to do when colonizing a planet is research at minimum the first level upgrade. because if you expand to rapidly you will very qucikly find yourself losing credits instead of gaining them

EDIT: Increasing your population is also a great way to maximize your tax profits, once you eliminate underdevelopment max the populations on worlds where you can research higher population. (Terran/Arctic for TEC, Desert/Terran for Advent, Volcanic/(maybe terran?) for Vasari[Don't play enough Vasari]