We report on the first comprehensive measurements of critical superJlow velocities in ~He-B which allow diJferent mechanisms of vortex Jormation to be identifi'ed. As a Jimction of temperature T and pressure P, we measure the critical anguhw velocity ~(" T, P) at which vortices start to Jbrm in slowly accelerating rotation in a cylindrical conta#wr fi'llcd with ~He-B. Owing to the long coherence length ~(T, P) ~ 10-100 nm, either trapped remanent vortici O' or #ztrinsie nucleation me O, dominate vortex Jbrmation, depending on the roughness of the contahwr wall and the presence of loaded traps. NMR measurement with a resohztion of one single vortex line allows us to distinguish between diJferent processes: ( 1 ) Three extrinsic mechanisms of vortex Jormation have been observed. One of them is the vortex mill, a continuous periodic source which is activated in a rough-walled container well below the limit Jor intrinsic nuch, ation. (2) In a closed smooth-walled container intrinsic nucleation is the only mechanism available, with a criticalvelocity vJT, P)= g2~(T, P) R, where R is the radius of the container. We find v~(T, P) to be related to the calculated intrinsic stability limit Vcb(T, P) of homogeneous superJlow. The existence of this connection in the form of a scaling law implies that nucleation takes place at an instability, rather than by thermal activation or quantum tunneling which become impossible because of an inaccessibly high energy barrier.