In short, you can't. Drupal's menu system caches the entire menu: menu items can't appear differently for different users (although you can set access permissions for them). If you want menu items to appear, you have to either register them in hook_menu()
(which is only called when the menu is rebuilt), or you have to add them manually in Menu administration.
The handbook page on the Menu system provides more information about this.
However, you can create a fake menu using a block display in your view and the HTML list row style. This is useful if you wanted to have a category listing block, outside the main menu structure.