You can create an interceptor using HandlerInterceptorAdapter and override postHandle method in which you'll add needed object to the model. Example below.
@Component
public class ExampleInterceptor extends HandlerInterceptorAdapter {
    @Override
    public void postHandle(
            HttpServletRequest request, 
            HttpServletResponse response, 
            Object handler, 
            ModelAndView modelAndView) throws Exception {
        modelAndView.addObject("object", new Object());
    }
}
Then you need to add it into registry and specify path pattern(s). If you use WebMvcConfigurerAdapter you can do it by overriding addInterceptors method.
@Bean
public ExampleInterceptor exampleInterceptor() {
   return new ExampleInterceptor();
}
@Override
public void addInterceptors(InterceptorRegistry registry) {                
   registry.addInterceptor(exampleInterceptor()).addPathPatterns("/*");
}
More on the subject you can find here: http://www.journaldev.com/2676/spring-mvc-interceptor-example-handlerinterceptor-handlerinterceptoradapter