The pull-up resistors shouldn't be necessary if the microcontroller outputs are always either driven high or low.
However the pull-up resistors may be used to ensure that there is a logic level present at all times as demetal has said. This could be, as FvM has said, if the outputs are open-drain, or if they have mistakenly been configured as inputs or if the outputs are high-impedance tri-state, eg when the microcontroller is reset, etc.
Hope this helps.
Tahmid.