Most of the successful and predominant methods for Bilingual Lexicon Induction (BLI) are mapping-based, where a linear mapping function is learned with the assumption that the word embedding spaces of different languages exhibit similar geometric structures i.e. approximately isomorphic}). However, several recent studies have criticized this simplified assumption showing that it does not hold in general even for closely related languages. In this work, we propose a novel semi-supervised method to learn cross-lingual word embeddings for BLI. Our model is independent of the isomorphic assumption and uses non-linear mapping in the latent space of two independently pre-trained} autoencoders. Through extensive experiments on fifteen (15) different language pairs (in both directions) comprising resource-rich and low-resource languages from two different datasets, we demonstrate that our method outperforms existing models by a good margin. Ablation studies show the importance of different..