diff --git a/doc/Code/LocalizationOutput4.txt b/doc/Code/LocalizationOutput4.txt
deleted file mode 100644
index 902b79f79..000000000
--- a/doc/Code/LocalizationOutput4.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-Factor graph:
-size: 5
-factor 0: BetweenFactor(1,2)
-  measured(2, 0, 0)
-  noise model: diagonal sigmas [0.2; 0.2; 0.1];
-factor 1: BetweenFactor(2,3)
-  measured(2, 0, 0)
-  noise model: diagonal sigmas [0.2; 0.2; 0.1];
-factor 2: keys = { 1 }
-  noise model: diagonal sigmas [0.1; 0.1];
-factor 3: keys = { 2 }
-  noise model: diagonal sigmas [0.1; 0.1];
-factor 4: keys = { 3 }
-  noise model: diagonal sigmas [0.1; 0.1];
diff --git a/doc/Code/Pose2SLAMExample-graph2.m b/doc/Code/Pose2SLAMExample-graph2.m
deleted file mode 100644
index 1cbd020d0..000000000
--- a/doc/Code/Pose2SLAMExample-graph2.m
+++ /dev/null
@@ -1,8 +0,0 @@
-%% Plot result, including covariance ellipses
-figure(1);clf; plot(initial.xs(),initial.ys(),'g-*'); axis equal
-hold on; plot(result.xs(),result.ys(),'b-*')
-for i=1:result.size()-1
-    pose_i = result.pose(i);
-    P{i}=marginals.marginalCovariance(i);
-    covarianceEllipse([pose_i.x;pose_i.y],P{i},'b')
-end