You need external pull-ups for 100% sure. If there is any I²C Hardware on the STM32F100VL-Discovery board or you use external components which work, there are resistors on the discovery board itself.
Keep in mind that:
- 10kΩ --> 100kHz max
- 4k7Ω --> 400kHz max
And please double check and be absolutely sure that you do the open drain thing.
~ Tectu