When do I use each ?
Also...is the NLTK lemmatization dependent upon Parts of Speech? Wouldn\'t it be more accurate if it was?
There are two aspects to show their differences:
A stemmer will return the stem of a word, which needn't be identical to the morphological root of the word. It usually sufficient that related words map to the same stem,even if the stem is not in itself a valid root, while in lemmatisation, it will return the dictionary form of a word, which must be a valid word.
In lemmatisation, the part of speech of a word should be first determined and the normalisation rules will be different for different part of speech, while the stemmer operates on a single word without knowledge of the context, and therefore cannot discriminate between words which have different meanings depending on part of speech.
Reference http://textminingonline.com/dive-into-nltk-part-iv-stemming-and-lemmatization