We compare simulations and experiments of positive streamer discharges in air at 100 mbar, aiming towards model validation. Experimentally, streamers are generated in a plate-plate geometry with a protruding needle. We are able to capture the complete time evolution of reproducible single-filament streamers with a ns gate-time camera. A 2D axisymmetric drift-diffusion-reaction fluid model is used to simulate streamers under conditions closely matching those of the experiments. Streamer velocities, radii and light emission profiles are compared between model and experiment. Good qualitative agreement is observed between the experimental and simulated optical emission profiles, and for the streamer velocity and radius. Quantitatively, the sim...