Recent experiments have suggested that, at low enough temperature, the homogeneous nucleation of bubbles occurs in liquid helium near the calculated spinodal limit. This was done in pure superfluid helium 4 and in pure normal liquid helium 3. However, in such experiments, where the negative pressure is produced by focusing an acoustic wave in the bulk liquid, the local amplitude of the instantaneous pressure or density is not directly measurable. In this article, we present a series of measurements as a function of the static pressure in the experimental cell. They allowed us to obtain an upper bound for the cavitation pressure P_cav (at low temperature, P_cav < -2.4 bar in helium 3, P_cav < -8.0 bar in helium 4). From a more precise study of the acoustic transducer characteristics, we also obtained a lower bound (at low temperature, P_cav > -3.0 bar in helium 3, P_cav > - 10.4 bar in helium 4). In this article we thus present quantitative evidence that cavitation occurs at low temperature near the calculated spinodal limit (-3.1 bar in helium 3 and -9.5 bar in helium 4). Further information is also obtained on the comparison between the two helium isotopes. We finally discuss the magnitude of nonlinear effects in the focusing of a sound wave in liquid helium, where the pressure dependence of the compressibility is large.