How to integrate swagger tool with apache CXF REST web service using CXFNonSpringJaxrsServlet?

Could you please someone provide the clear steps to integrate with Swagger into Apache CXF JAX-RS application without spring framework support(using using org.apache.cxf.jaxrs.servlet.CXFNonSpringJaxrsServlet).

I have gone through swagger site and blogs I haven't find any clear steps for configuring swagger.

I did these steps:

1. Added required dependency to my project:

       <!-- SWAGGER -->
       <dependency>
           <groupId>io.swagger</groupId>
           <artifactId>swagger-jaxrs</artifactId>
           <version>1.5.8</version>
       </dependency>
       <dependency>
           <groupId>org.webjars</groupId>
           <artifactId>swagger-ui</artifactId>
           <version>2.1.4</version>
           <scope>provided</scope>
       </dependency>
       <dependency>
           <groupId>org.slf4j</groupId>
           <artifactId>slf4j-api</artifactId>
           <version>${slf4j-simple.version}</version>
       </dependency>
       <dependency>
           <groupId>org.slf4j</groupId>
           <artifactId>slf4j-simple</artifactId>
           <version>${slf4j-simple.version}</version>
       </dependency>
   

2. Updated the web.xml as mentioned here: https://cwiki.apache.org/confluence/pages/viewpage.action?pageId=61318164

3. Added swagger-ui 2.1.4 as project resources (I edited index.html to point at the right url);

4. Added @Api annotation to my services cxf;

Hopes this help

UPDATE:

CXF dependency:

    <!-- CXF -->
    <dependency>
        <groupId>org.apache.cxf</groupId>
        <artifactId>cxf-rt-frontend-jaxrs</artifactId>
        <version>${cxf.version}</version>
    </dependency>
    <dependency>
        <groupId>org.apache.cxf</groupId>
        <artifactId>cxf-rt-transports-http</artifactId>
        <version>${cxf.version}</version>
    </dependency>
    <dependency>
        <groupId>org.apache.cxf</groupId>
        <artifactId>cxf-rt-rs-service-description</artifactId>
        <version>${cxf.version}</version>
    </dependency>

with cxf.version = 3.1.5 (CXF 3.1.X is only for jdk 1.7 or newer)