Temperature dependence of the electronic structure of SmB6 is studied by high-resolution angle-resolved photoemission spectroscopy (ARPES) down to 1 K. We demonstrate that there is no essential difference for the dispersions of the surface states below and above the resistivity saturating anomaly (similar to 3.5 K). Quantitative analyses of the surface states indicate that the quasiparticle scattering rate increases linearly as a function of temperature and binding energy, which differs from Fermi-liquid behavior. Most intriguingly, we observe that the hybridization between the d and f states builds gradually over a wide temperature region (30 K < T < 110 K). The surface states appear when the hybridization starts to develop. Our detailed temperature-dependence results give a complete interpretation of the exotic resistivity result of SmB6, as well as the discrepancies among experimental results concerning the temperature regions in which the topological surface states emerge and the Kondo gap opens, and give insights into the exotic Kondo crossover and its relationship with the topological surface states in the topological Kondo insulator SmB6.