Global Ajax error handler with AngularJS

When my website was 100% jQuery, I used to do this:

$.ajaxSetup({
    global: true,
    error: function(xhr, status, err) {
        if (xhr.status == 401) {
           window.location = "./index.html";
        }
    }
});

to set a global handler for 401 errors. Now, I use angularjs with $resource and $http to do my (REST) requests to the server. Is there any way to similarly set a global error handler with angular?